A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization
Abstract
:1. Introduction
1.1. Related Work
1.2. Our Contribution
2. System Description
2.1. Design of the Master Haptic Interface
2.2. Design of the Slave Manipulator
3. Safety Mechanism
4. Experimental Evaluation
4.1. Performance Evaluation of the Bilateral Operation
4.2. Performance Evaluation of the Force-Measuring Unit
4.2.1. Static Characteristic for the Force-Measuring Unit
4.2.2. Dynamic Characteristic for the Force-Measuring Unit
5. In Vitro Evaluation
5.1. Performance Evaluation
5.2. Validation Trials
6. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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Zhang, L.; Gu, S.; Guo, S.; Tamiya, T. A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization. Micromachines 2021, 12, 640. https://doi.org/10.3390/mi12060640
Zhang L, Gu S, Guo S, Tamiya T. A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization. Micromachines. 2021; 12(6):640. https://doi.org/10.3390/mi12060640
Chicago/Turabian StyleZhang, Linshuai, Shuoxin Gu, Shuxiang Guo, and Takashi Tamiya. 2021. "A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization" Micromachines 12, no. 6: 640. https://doi.org/10.3390/mi12060640