PMID- 35334702
OWN - NLM
STAT- PubMed-not-MEDLINE
LR  - 20220329
IS  - 2072-666X (Print)
IS  - 2072-666X (Electronic)
IS  - 2072-666X (Linking)
VI  - 13
IP  - 3
DP  - 2022 Mar 4
TI  - A Novel Remote-Controlled Vascular Interventional Robotic System Based on Hollow 
      Ultrasonic Motor.
LID - 10.3390/mi13030410 [doi]
LID - 410
AB  - Cardiovascular diseases (CVDs) are the deadliest diseases worldwide. Master-slave 
      robotic systems have been widely used in vascular interventional surgery with the 
      benefit of high safety, efficient operation, and procedural facilitation. This 
      paper introduces a remote-controlled vascular interventional robot (RVIR) that 
      aims to enable surgeons to perform complex vascular interventions reliably and 
      accurately under a magnetic resonance imaging (MRI) environment. The slave robot 
      includes a guidewire manipulator (GM) and catheter manipulator (CM) that are 
      mainly composed of a hollow driving mechanism and a linear motion platform. The 
      hollow driving mechanism is based on a traveling wave-type hollow ultrasonic 
      motor (HUM) which has high positional precision, fast response, and magnetic 
      interference resistance and realizes the cooperation of the guidewire and 
      catheter by omitting the redundant transmission mechanism and maintaining good 
      coaxiality. The HUM stator, the core part of the RVIR, is optimized by an 
      adaptive genetic algorithm for better quality and greater amplitude of traveling 
      waves, which are beneficial to the drive efficiency and precision. The robot 
      system features great cooperating performance, small hysteresis, and high 
      kinematic accuracy and has been experimentally verified for its capability to 
      precisely manipulate the guidewire and catheter.
FAU - Lu, Qing
AU  - Lu Q
AD  - State Key Lab of Mechanics and Control of Mechanical Structures, School of 
      Aeronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, 
      China.
FAU - Sun, Zhijun
AU  - Sun Z
AD  - State Key Lab of Mechanics and Control of Mechanical Structures, School of 
      Aeronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, 
      China.
FAU - Zhang, Jialiang
AU  - Zhang J
AD  - State Key Lab of Mechanics and Control of Mechanical Structures, School of 
      Aeronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, 
      China.
FAU - Zhang, Jiacheng
AU  - Zhang J
AD  - State Key Lab of Mechanics and Control of Mechanical Structures, School of 
      Aeronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, 
      China.
FAU - Zheng, Juju
AU  - Zheng J
AD  - State Key Lab of Mechanics and Control of Mechanical Structures, School of 
      Aeronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, 
      China.
FAU - Qian, Feng
AU  - Qian F
AD  - State Key Lab of Mechanics and Control of Mechanical Structures, School of 
      Aeronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, 
      China.
LA  - eng
GR  - 51775274/National Natural Science Foundation of China/
PT  - Journal Article
DEP - 20220304
PL  - Switzerland
TA  - Micromachines (Basel)
JT  - Micromachines
JID - 101640903
PMC - PMC8954608
OTO - NOTNLM
OT  - hollow ultrasonic motor
OT  - magnetic resonance imaging
OT  - master-slave robotic system
OT  - vascular interventional surgery
COIS- The authors declare no conflict of interest.
EDAT- 2022/03/27 06:00
MHDA- 2022/03/27 06:01
PMCR- 2022/03/04
CRDT- 2022/03/26 01:01
PHST- 2022/02/19 00:00 [received]
PHST- 2022/02/27 00:00 [revised]
PHST- 2022/03/01 00:00 [accepted]
PHST- 2022/03/26 01:01 [entrez]
PHST- 2022/03/27 06:00 [pubmed]
PHST- 2022/03/27 06:01 [medline]
PHST- 2022/03/04 00:00 [pmc-release]
AID - mi13030410 [pii]
AID - micromachines-13-00410 [pii]
AID - 10.3390/mi13030410 [doi]
PST - epublish
SO  - Micromachines (Basel). 2022 Mar 4;13(3):410. doi: 10.3390/mi13030410.