Toward a Versatile Robotic Platform for Fluoroscopy and MRI-Guided Endovascular  Interventions: A Pre-Clinical Study

Mohamed E.M.K. Abdelaziz; Dennis Kundrat; Marco Pupillo; Trevor M. Y. Kwok; Wenqiang Chi; Vincent  Groenhuis; Françoise J. Siepel; Celia Riga; Stefano  Stramigioli; Guang-Zhong Yang; Giulio  Dagnino

doi:10.1109/IROS40897.2019.8968237

Toward a Versatile Robotic Platform for Fluoroscopy and MRI-Guided Endovascular Interventions: A Pre-Clinical Study

Mohamed E.M.K. Abdelaziz, Dennis Kundrat, Marco Pupillo, Trevor M. Y. Kwok, Wenqiang Chi, Vincent Groenhuis, Françoise J. Siepel, Celia Riga, Stefano Stramigioli, Guang-Zhong Yang, Giulio Dagnino

Robotics and Mechatronics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

41 Citations (Scopus)

642 Downloads (Pure)

Abstract

Cardiovascular diseases are the most common cause of death worldwide. Remotely manipulated robotic systems are utilized to perform minimally invasive endovascular interventions. The main benefits of this methodology are reduced recovery time, improvement of clinical skills and procedural facilitation. Currently, robotic assistance, precision, and stability of instrument manipulation are compensated by the lack of haptic feedback and an excessive amount of radiation to the patient. This paper proposes a novel master-slave robotic platform that aims to bring the haptic feedback benefit on the master side, providing an intuitive user interface, and clinical familiar workflow. The slave robot is capable of manipulating conventional catheters and guidewires in multi-modal imaging environments. The system has been initially tested in a phantom cannulation study under fluoroscopic guidance, evaluating its reliability and procedural protocol. As the slave robot has been entirely produced by additive manufacturing and using pneumatic actuation, MR compatibility is enabled and was evaluated in a preliminary study. Results of both studies strongly support the applicability of the robot in different imaging environments and prospective clinical translation.

Original language	English
Title of host publication	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	IEEE
Pages	5411-5418
Number of pages	8
ISBN (Electronic)	978-1-7281-4004-9
ISBN (Print)	978-1-7281-4005-6
DOIs	https://doi.org/10.1109/IROS40897.2019.8968237
Publication status	Published - 27 Jan 2020
Event	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems - The Venetian Macao, Macau, China Duration: 4 Nov 2019 → 8 Nov 2019 https://www.iros2019.org/

Conference

Conference	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated title	IROS 2019
Country/Territory	China
City	Macau
Period	4/11/19 → 8/11/19
Internet address	https://www.iros2019.org/

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/IROS40897.2019.8968237

Toward a versatile roboticAccepted author version, 5.13 MB

Cite this

Abdelaziz, M. E. M. K., Kundrat, D., Pupillo, M., Kwok, T. M. Y., Chi, W., Groenhuis, V., Siepel, F. J., Riga, C., Stramigioli, S., Yang, G.-Z., & Dagnino, G. (2020). Toward a Versatile Robotic Platform for Fluoroscopy and MRI-Guided Endovascular Interventions: A Pre-Clinical Study. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 5411-5418). Article 8968237 IEEE. https://doi.org/10.1109/IROS40897.2019.8968237

@inproceedings{9ecd307a0a174b51ae7063dbe6430f4b,

title = "Toward a Versatile Robotic Platform for Fluoroscopy and MRI-Guided Endovascular Interventions: A Pre-Clinical Study",

abstract = "Cardiovascular diseases are the most common cause of death worldwide. Remotely manipulated robotic systems are utilized to perform minimally invasive endovascular interventions. The main benefits of this methodology are reduced recovery time, improvement of clinical skills and procedural facilitation. Currently, robotic assistance, precision, and stability of instrument manipulation are compensated by the lack of haptic feedback and an excessive amount of radiation to the patient. This paper proposes a novel master-slave robotic platform that aims to bring the haptic feedback benefit on the master side, providing an intuitive user interface, and clinical familiar workflow. The slave robot is capable of manipulating conventional catheters and guidewires in multi-modal imaging environments. The system has been initially tested in a phantom cannulation study under fluoroscopic guidance, evaluating its reliability and procedural protocol. As the slave robot has been entirely produced by additive manufacturing and using pneumatic actuation, MR compatibility is enabled and was evaluated in a preliminary study. Results of both studies strongly support the applicability of the robot in different imaging environments and prospective clinical translation.",

author = "Abdelaziz, {Mohamed E.M.K.} and Dennis Kundrat and Marco Pupillo and Kwok, {Trevor M. Y.} and Wenqiang Chi and Vincent Groenhuis and Siepel, {Fran{\c c}oise J.} and Celia Riga and Stefano Stramigioli and Guang-Zhong Yang and Giulio Dagnino",

year = "2020",

month = jan,

day = "27",

doi = "10.1109/IROS40897.2019.8968237",

language = "English",

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booktitle = "2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

publisher = "IEEE",

address = "United States",

note = "2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 ; Conference date: 04-11-2019 Through 08-11-2019",

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Abdelaziz, MEMK, Kundrat, D, Pupillo, M, Kwok, TMY, Chi, W, Groenhuis, V , Siepel, FJ, Riga, C, Stramigioli, S, Yang, G-Z & Dagnino, G 2020, Toward a Versatile Robotic Platform for Fluoroscopy and MRI-Guided Endovascular Interventions: A Pre-Clinical Study. in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)., 8968237, IEEE, pp. 5411-5418, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China, 4/11/19. https://doi.org/10.1109/IROS40897.2019.8968237

Toward a Versatile Robotic Platform for Fluoroscopy and MRI-Guided Endovascular Interventions: A Pre-Clinical Study. / Abdelaziz, Mohamed E.M.K.; Kundrat, Dennis; Pupillo, Marco et al.
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2020. p. 5411-5418 8968237.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Abdelaziz, Mohamed E.M.K.

AU - Kundrat, Dennis

AU - Pupillo, Marco

AU - Kwok, Trevor M. Y.

AU - Chi, Wenqiang

AU - Groenhuis, Vincent

AU - Siepel, Françoise J.

AU - Riga, Celia

AU - Stramigioli, Stefano

AU - Yang, Guang-Zhong

AU - Dagnino, Giulio

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AB - Cardiovascular diseases are the most common cause of death worldwide. Remotely manipulated robotic systems are utilized to perform minimally invasive endovascular interventions. The main benefits of this methodology are reduced recovery time, improvement of clinical skills and procedural facilitation. Currently, robotic assistance, precision, and stability of instrument manipulation are compensated by the lack of haptic feedback and an excessive amount of radiation to the patient. This paper proposes a novel master-slave robotic platform that aims to bring the haptic feedback benefit on the master side, providing an intuitive user interface, and clinical familiar workflow. The slave robot is capable of manipulating conventional catheters and guidewires in multi-modal imaging environments. The system has been initially tested in a phantom cannulation study under fluoroscopic guidance, evaluating its reliability and procedural protocol. As the slave robot has been entirely produced by additive manufacturing and using pneumatic actuation, MR compatibility is enabled and was evaluated in a preliminary study. Results of both studies strongly support the applicability of the robot in different imaging environments and prospective clinical translation.

U2 - 10.1109/IROS40897.2019.8968237

DO - 10.1109/IROS40897.2019.8968237

M3 - Conference contribution

SN - 978-1-7281-4005-6

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EP - 5418

BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - IEEE

Y2 - 4 November 2019 through 8 November 2019

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