An MR-Safe Endovascular Robotic Platform: Design, Control, and Ex-Vivo Evaluation.

Journal: IEEE transactions on bio-medical engineering
Published Date: Sep 20, 2021

Abstract

OBJECTIVE: Cardiovascular diseases are the most common cause of global death. Endovascular interventions, in combination with advanced imaging technologies, are promising approaches for minimally invasive diagnosis and therapy. More recently, teleoperated robotic platforms target improved manipulation accuracy, stabilisation of instruments in the vasculature, and reduction of patient recovery times. However, benefits of recent platforms are undermined by a lack of haptics and residual patient exposure to ionising radiation. The purpose of this research was to design, implement, and evaluate a novel endovascular robotic platform, which accommodates emerging non-ionising magnetic resonance imaging (MRI).

Authors

  • Dennis Kundrat
    Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK.
  • Giulio Dagnino
    Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy.
  • Trevor M Y Kwok
  • Mohamed E M K Abdelaziz
  • Wenqiang Chi
    Hamlyn Centre for Robotic Surgery, Imperial College London, London, SW7 2AZ, UK. wenqiang.chi10@imperial.ac.uk.
  • Anh Nguyen
    Department of Computer Science and Software Engineering, Auburn University, AL, USA. Electronic address: anhnguyen@auburn.edu.
  • Celia Riga
    Academic Division of Surgery, Imperial College London, London, UK.
  • Guang-Zhong Yang
    Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China. dgunning@fb.com gzyang@sjtu.edu.cn.

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