Document Detail


Design and fabrication of a robotic mechanism for remote steering and positioning of interventional devices.
MedLine Citation:
PMID:  20135635     Owner:  NLM     Status:  MEDLINE    
Abstract/OtherAbstract:
BACKGROUND: Recently, robotic systems have been introduced as a method for assisting endovascular interventional procedures. A few commercial and research solutions are available. In a survey it was found that none of the current systems satisfied all basic design requirements set forth for a good robot-assisted therapy platform. METHODS: A human motion analysis study was performed to identify design specifications for safe motion and force limits for endovascular surgery. Based on design requirements from surveyed systems and motion analysis, a new, teleoperated, haptically enabled system called System for Endovascular Teleoperated Access (SETA) was constructed. SETA is capable of simultaneously manipulating any guidewire and catheter in the range of 0.014-0.13 inches. RESULTS: SETA's slave was evaluated for precision positioning, using in vitro vascular phantoms. It was also evaluated by a cohort of neurovascular surgeons and fellows (n = 8), using the VIST vascular simulator. A qualitative survey of the participants and a quantitative analysis of metrics procedure time and contrast used found that SETA was equivalent to manual intervention on this platform. CONCLUSIONS: SETA provided good performance in the in vitro studies, and will soon be evaluated in a series of in vivo animal model studies.
Authors:
Govindarajan Srimathveeravalli; Thenkurussi Kesavadas; Xinyan Li
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Publication Detail:
Type:  Journal Article    
Journal Detail:
Title:  The international journal of medical robotics + computer assisted surgery : MRCAS     Volume:  6     ISSN:  1478-596X     ISO Abbreviation:  Int J Med Robot     Publication Date:  2010 Jun 
Date Detail:
Created Date:  2010-05-27     Completed Date:  2010-09-21     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  101250764     Medline TA:  Int J Med Robot     Country:  England    
Other Details:
Languages:  eng     Pagination:  160-70     Citation Subset:  IM    
Copyright Information:
(c) 2010 John Wiley & Sons, Ltd.
Affiliation:
Department of Mechanical and Aerospace Engineering, State University of New York, Buffalo, NY 14260, USA. gks2@buffalo.edu
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MeSH Terms
Descriptor/Qualifier:
Humans
Patient Positioning
Phantoms, Imaging*

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