A Design Methodology for Development of Clinically Compliant Upper Limb Spasticity Part-Task Trainer

芝浦工業大学201

Design and development of robotic system for endovascular procedures

Endovascular surgeries are highly preferred minimally invasive procedures performed through blood vessels for diagnostic and therapeutic purposes. In conventional open surgery, surgeons have complete control on the surgical tool, but in the case of endovascular procedures, a highly flexible tool, which is operated from distal end provides an indirect control. Moreover, the operating end of these flexible tools inside a patient are controlled from distal end, outside patient's body, with an imperceptible force feedback from the tool. Even though fluoroscopic images like X-rays provide a temporary solution, the perceptive of depth is not available in these visual feedback and the prolonged hazardous radiations do not provide a safer working environment for surgeons. A tele-operated robotic systems have enhanced the surgical conditions nevertheless, it decline to provide a better system which can help surgeons to use their intuitive surgical skills. Additionally, these robotic system requires replacement of the low cost conventional surgical tools with expensive one, thus increasing the procedural cost. This thesis work addresses these two issues in the endovascular robotic systems by 1. Developing an intuitive user interface console to help ease of transfer of surgical skills for surgeons, 2. Developing an in-built force feedback sensing mechanism in the robot that is adaptable to conventional surgical tool. A new interventional robotic system (IRS) with teleoperation control was developed to isolating the surgeons from hazardous radiation. The master console of IRS is design to capture surgeon’s conventional surgical gestures thus, eliminating the need for learning new skills to manipulate surgical robots. IRS ensures patient’s safety by providing haptic feedback to surgeons using reactive force experienced by surgical tool. IRS also has the adaptability to use the conventional surgical tool of wide range of dimensions. Finally, the force measurement evaluation and performance assessment of the IRS were presented. The future scopes of this research work are briefly discussed