Design and Evaluation of a Leader–Follower Isomorphic Vascular Interventional Surgical Robot
Vascular interventional surgical robots (VISRs) can help doctors to avoid X-ray radiation. This paper proposes a leader–follower isomorphic robot where the structural form and operational logic are completely identical. The doctor’s operation on the leader robot is precisely replicated on the follow...
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MDPI AG
2025-01-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/1/29 |
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| author | Pengfei Chen Yutang Wang Dapeng Tian |
| author_facet | Pengfei Chen Yutang Wang Dapeng Tian |
| author_sort | Pengfei Chen |
| collection | DOAJ |
| description | Vascular interventional surgical robots (VISRs) can help doctors to avoid X-ray radiation. This paper proposes a leader–follower isomorphic robot where the structural form and operational logic are completely identical. The doctor’s operation on the leader robot is precisely replicated on the follower robot, enabling delivery and rotation capabilities. It can further achieve collaborative operation. This control system adopts a four-channel scheme based on acceleration and can achieve approximately ideal transparency. The leader–follower delivery error of the catheter/guidewire is less than 1 mm, and the leader–follower rotation error of the guidewire is less than 0.3° in an actual intervention task based on a human vascular model. Subsequently, the cumulative sum (CUSUM) method was used to evaluate the learning curve of the robot system, demonstrating that both operators could master the operation method within 10 trials. We classified operators with different operational experience using machine learning methods. The classification process includes time-frequency domain feature extraction, feature selection based on the Relief method and random forest (RF) method, and a BP neural network (NN) classifier. The results indicate that this method can achieve accuracy of 94%. This paper comprehensively discusses the robot system from the perspectives of the mechanism design, control methods, and evaluation methods, providing valuable insights for the design of related robotic systems. |
| format | Article |
| id | doaj-art-6f5ab6a000d548a8b9af120307854466 |
| institution | Kabale University |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-6f5ab6a000d548a8b9af1203078544662025-01-24T13:15:13ZengMDPI AGActuators2076-08252025-01-011412910.3390/act14010029Design and Evaluation of a Leader–Follower Isomorphic Vascular Interventional Surgical RobotPengfei Chen0Yutang Wang1Dapeng Tian2State Key Laboratory of Dynamic Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaState Key Laboratory of Dynamic Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaState Key Laboratory of Dynamic Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaVascular interventional surgical robots (VISRs) can help doctors to avoid X-ray radiation. This paper proposes a leader–follower isomorphic robot where the structural form and operational logic are completely identical. The doctor’s operation on the leader robot is precisely replicated on the follower robot, enabling delivery and rotation capabilities. It can further achieve collaborative operation. This control system adopts a four-channel scheme based on acceleration and can achieve approximately ideal transparency. The leader–follower delivery error of the catheter/guidewire is less than 1 mm, and the leader–follower rotation error of the guidewire is less than 0.3° in an actual intervention task based on a human vascular model. Subsequently, the cumulative sum (CUSUM) method was used to evaluate the learning curve of the robot system, demonstrating that both operators could master the operation method within 10 trials. We classified operators with different operational experience using machine learning methods. The classification process includes time-frequency domain feature extraction, feature selection based on the Relief method and random forest (RF) method, and a BP neural network (NN) classifier. The results indicate that this method can achieve accuracy of 94%. This paper comprehensively discusses the robot system from the perspectives of the mechanism design, control methods, and evaluation methods, providing valuable insights for the design of related robotic systems.https://www.mdpi.com/2076-0825/14/1/29vascular interventional surgical robotleader–follower isomorphic robotbilateral controlassessment of operational skills |
| spellingShingle | Pengfei Chen Yutang Wang Dapeng Tian Design and Evaluation of a Leader–Follower Isomorphic Vascular Interventional Surgical Robot Actuators vascular interventional surgical robot leader–follower isomorphic robot bilateral control assessment of operational skills |
| title | Design and Evaluation of a Leader–Follower Isomorphic Vascular Interventional Surgical Robot |
| title_full | Design and Evaluation of a Leader–Follower Isomorphic Vascular Interventional Surgical Robot |
| title_fullStr | Design and Evaluation of a Leader–Follower Isomorphic Vascular Interventional Surgical Robot |
| title_full_unstemmed | Design and Evaluation of a Leader–Follower Isomorphic Vascular Interventional Surgical Robot |
| title_short | Design and Evaluation of a Leader–Follower Isomorphic Vascular Interventional Surgical Robot |
| title_sort | design and evaluation of a leader follower isomorphic vascular interventional surgical robot |
| topic | vascular interventional surgical robot leader–follower isomorphic robot bilateral control assessment of operational skills |
| url | https://www.mdpi.com/2076-0825/14/1/29 |
| work_keys_str_mv | AT pengfeichen designandevaluationofaleaderfollowerisomorphicvascularinterventionalsurgicalrobot AT yutangwang designandevaluationofaleaderfollowerisomorphicvascularinterventionalsurgicalrobot AT dapengtian designandevaluationofaleaderfollowerisomorphicvascularinterventionalsurgicalrobot |