A Master-Follower Teleoperation System for Robotic Catheterization: Design, Characterization, and Tracking Control
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arXiv
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| Auteurs principaux: | , , , , , , |
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| Format: | Preprint |
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2024
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| _version_ | 1866912232626978816 |
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| author | Nazari, Ali A. Catania, Jeremy Sadeghian, Soroush Jalali, Amir Masnavi, Houman Janabi-Sharifi, Farrokh Zareinia, Kourosh |
| author_facet | Nazari, Ali A. Catania, Jeremy Sadeghian, Soroush Jalali, Amir Masnavi, Houman Janabi-Sharifi, Farrokh Zareinia, Kourosh |
| contents | Minimally invasive robotic surgery has gained significant attention over the past two decades. Telerobotic systems, combined with robot-mediated minimally invasive techniques, have enabled surgeons and clinicians to mitigate radiation exposure for medical staff and extend medical services to remote and hard-to-reach areas. To enhance these services, teleoperated robotic surgery systems incorporating master and follower devices should offer transparency, enabling surgeons and clinicians to remotely experience a force interaction similar to the one the follower device experiences with patients' bodies. This paper presents the design and development of a three-degree-of-freedom master-follower teleoperated system for robotic catheterization. To resemble manual intervention by clinicians, the follower device features a grip-insert-release mechanism to eliminate catheter buckling and torsion during operation. The bidirectionally navigable ablation catheter is statically characterized for force-interactive medical interventions. The system's performance is evaluated through approaching and open-loop path tracking over typical circular, infinity-like, and spiral paths. Path tracking errors are presented as mean Euclidean error (MEE) and mean absolute error (MAE). The MEE ranges from 0.64 cm (infinity-like path) to 1.53 cm (spiral path). The MAE also ranges from 0.81 cm (infinity-like path) to 1.92 cm (spiral path). The results indicate that while the system's precision and accuracy with an open-loop controller meet the design targets, closed-loop controllers are necessary to address the catheter's hysteresis and dead zone, and system nonlinearities. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_13162 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Master-Follower Teleoperation System for Robotic Catheterization: Design, Characterization, and Tracking Control Nazari, Ali A. Catania, Jeremy Sadeghian, Soroush Jalali, Amir Masnavi, Houman Janabi-Sharifi, Farrokh Zareinia, Kourosh Robotics Computer Vision and Pattern Recognition Systems and Control Minimally invasive robotic surgery has gained significant attention over the past two decades. Telerobotic systems, combined with robot-mediated minimally invasive techniques, have enabled surgeons and clinicians to mitigate radiation exposure for medical staff and extend medical services to remote and hard-to-reach areas. To enhance these services, teleoperated robotic surgery systems incorporating master and follower devices should offer transparency, enabling surgeons and clinicians to remotely experience a force interaction similar to the one the follower device experiences with patients' bodies. This paper presents the design and development of a three-degree-of-freedom master-follower teleoperated system for robotic catheterization. To resemble manual intervention by clinicians, the follower device features a grip-insert-release mechanism to eliminate catheter buckling and torsion during operation. The bidirectionally navigable ablation catheter is statically characterized for force-interactive medical interventions. The system's performance is evaluated through approaching and open-loop path tracking over typical circular, infinity-like, and spiral paths. Path tracking errors are presented as mean Euclidean error (MEE) and mean absolute error (MAE). The MEE ranges from 0.64 cm (infinity-like path) to 1.53 cm (spiral path). The MAE also ranges from 0.81 cm (infinity-like path) to 1.92 cm (spiral path). The results indicate that while the system's precision and accuracy with an open-loop controller meet the design targets, closed-loop controllers are necessary to address the catheter's hysteresis and dead zone, and system nonlinearities. |
| title | A Master-Follower Teleoperation System for Robotic Catheterization: Design, Characterization, and Tracking Control |
| topic | Robotics Computer Vision and Pattern Recognition Systems and Control |
| url | https://arxiv.org/abs/2407.13162 |