PMID- 23520192
OWN - NLM
STAT- MEDLINE
DCOM- 20140108
LR  - 20191210
IS  - 1478-596X (Electronic)
IS  - 1478-5951 (Linking)
VI  - 9
IP  - 2
DP  - 2013 Jun
TI  - A remote-controlled vascular interventional robot: system structure and image 
      guidance.
PG  - 230-9
LID - 10.1002/rcs.1494 [doi]
AB  - BACKGROUND: Robot-assisted vascular interventional surgery (VIS) enables the 
      surgeon to teleoperate a catheter in a safe cabinet, such that exposure to X-ray 
      radiation is reduced. For safe and accurate teleoperation, system structure and 
      image guidance is important. METHODS: The system structure of the developed 
      remote-controlled vascular interventional robot (RVIR) and its image guidance 
      system (IGS) are introduced. RVIR is based on a master-slave structure. Key 
      technologies of IGS are addressed, including C-arm calibration, distortion 
      correction, catheter localization and 3D vasculature reconstruction. RESULTS: 
      Experiments show that the RMS error of distortion correction is 0.35 pixels, and 
      0.53 mm for distance reconstruction. The error in catheter localization between 
      the IGS and the encoders is small. In vitro and in vivo tests verified the 
      feasibility of RVIR. CONCLUSIONS: Experiments indicate that the RVIR is feasible 
      and valid to help the surgeon perform VIS remotely; the function and 
      reconstruction accuracy of IGS can satisfy the surgeon's requirement to guide the 
      RVIR.
CI  - Copyright (c) 2013 John Wiley & Sons, Ltd.
FAU - Meng, Cai
AU  - Meng C
AD  - Image Processing Centre, Beihang University, Beijing, People's Republic of China. 
      Tsai@buaa.edu.cn
FAU - Zhang, Jun
AU  - Zhang J
FAU - Liu, Da
AU  - Liu D
FAU - Liu, Bo
AU  - Liu B
FAU - Zhou, Fugen
AU  - Zhou F
LA  - eng
PT  - Evaluation Study
PT  - Journal Article
PT  - Research Support, Non-U.S. Gov't
DEP - 20130321
PL  - England
TA  - Int J Med Robot
JT  - The international journal of medical robotics + computer assisted surgery : MRCAS
JID - 101250764
SB  - IM
MH  - Equipment Design
MH  - Equipment Failure Analysis
MH  - Imaging, Three-Dimensional/*instrumentation
MH  - *Man-Machine Systems
MH  - Robotics/*instrumentation
MH  - Surgery, Computer-Assisted/*instrumentation
MH  - Telemedicine/*instrumentation
MH  - Tomography, X-Ray Computed/*instrumentation
MH  - Vascular Surgical Procedures/*instrumentation
EDAT- 2013/03/23 06:00
MHDA- 2014/01/09 06:00
CRDT- 2013/03/23 06:00
PHST- 2013/01/28 00:00 [accepted]
PHST- 2013/03/23 06:00 [entrez]
PHST- 2013/03/23 06:00 [pubmed]
PHST- 2014/01/09 06:00 [medline]
AID - 10.1002/rcs.1494 [doi]
PST - ppublish
SO  - Int J Med Robot. 2013 Jun;9(2):230-9. doi: 10.1002/rcs.1494. Epub 2013 Mar 21.