Forum for Science, Industry and Business

Sponsored by:     3M 
Search our Site:

 

Mechatronic design for a fail safe catheter guide in blood circulatory system

11.10.2012
To prevent the risks in minimally invasive surgery procedures there has been considerable interest in using Master Slave System (MSS), a telesurgical system for catheter guide during interventional radiology. Here the researchers propose using a fail-safe telesurgical system.

Minimally invasive surgery (MIS) involves indirect observation of the surgical field through endoscope or similar devices and is carried out through the skin, through body cavities or anatomical openings.

Interventional Radiology (IVR), is one such MIS procedure and is performed using image guidance: tiny tubes (catheters) or needles are inserted through the body to the area of interest. The IVR procedures allow two types of treatment: treatment through the blood circulatory system and non-blood circulatory system, here we are looking at the development of a telesurgical system for catheter guide in the blood circulatory system.

To prevent the risks, there has been considerable interest in using Master Slave System (MSS), a telesurgical system for catheter guide during IVR. We propose using a fail-safe telesurgical system in interventional radiology. The Master Slave Mechanism has high precision performance and upon detection of any abnormality in position or command it will stop the procedure as a safety measure. The Master Slave System (MSS) for catheter guide in blood circulatory system consists of a master robot handle by surgeon, a slave robot placed near the patient and a close-loop control system. The elements involved are a surgeon, blood vessel of patient in contact with the catheter held by the slave robot, and a control system adjusting the parameters according to the influences from the environment. The MSS is indeed a mediator between the surgeon and the patient; therefore the system should be reliable ensure the safety of the patient.

As such, a fail-safe catheter guide system has to be developed. During the conceptual design phase, five key aspects for a fail-safe catheter guide system was specified. These aspects included the requirements, functions, environment, active structure and behavior of the system.The relevant spheres of influence were identified. Undesirable influences disturbing the operation of the system were marked as disturbance variables.This aspect describes the system elements, their attributes and the relationship between the elements of the system.

The aim is to define a system configuration for a safe and reliably guided catheter based on the function of MSS in IVR procedure and environmental factors. The IVR is a complicated procedure; therefore as the first step in the development of MSS for the catheter guide, the development of the MSS started from guiding the catheter in the vessel until it reaches the area of interest. The surgeons have to carry out some medical procedures before using the MSS which involves making a small incision in the patient’s body and inserting the catheter into the blood vessel and after that then the surgeon manipulates the master tool. The prototype development consists of a fail-safe catheter guide system. This section exemplifies the prototype development of an integral element of the catheter guide system, i.e. the slave system.

We have developed a slave system with two degrees of freedom (DOF) using two actuators as the positions control. A roller mechanism has been chosen to generate infinite thrust movement of the catheter. In order to prevent the intervention, both the DOF must be independent and the catheter grasp mechanism needs to be fixed with one DOF only. Most of the parts were made of aluminium except for the thrust mechanism case, which was made from ABS resin using stereo lithography. Last but not least, we aim to build a prototype of the Master Slave System that consists of a master tool, a slave system and a complete control system. Once the prototype is completed, an experiment using MATLAB Simulink or an in-vivo experiment would be conducted. In this report, the current state of the prototype development for a slave system for the catheter guide system has been explained.

For more information please contact:
Noor Ayuni Binti Che Zakaria ayuni8098@salam.uitm.edu.my
DR.-Ing Low Cheng Yee chengyee.low@salam.uitm.edu.my
Funding information
This research was supported by the Research Organization for Advanced Engineering in Shibaura Institute of Technology, Japan and later partially continued at the Faculty of Mechanical Engineering in Universiti Teknologi MARA, Malaysia.

Darmarajah Nadarajah | Research asia research news
Further information:
http://www.uitm.edu.my/index.php/en
http://www.researchsea.com

More articles from Health and Medicine:

nachricht Antibiotic effective against drug-resistant bacteria in pediatric skin infections
17.02.2017 | University of California - San Diego

nachricht Tiny magnetic implant offers new drug delivery method
14.02.2017 | University of British Columbia

All articles from Health and Medicine >>>

The most recent press releases about innovation >>>

Die letzten 5 Focus-News des innovations-reports im Überblick:

Im Focus: Breakthrough with a chain of gold atoms

In the field of nanoscience, an international team of physicists with participants from Konstanz has achieved a breakthrough in understanding heat transport

In the field of nanoscience, an international team of physicists with participants from Konstanz has achieved a breakthrough in understanding heat transport

Im Focus: DNA repair: a new letter in the cell alphabet

Results reveal how discoveries may be hidden in scientific “blind spots”

Cells need to repair damaged DNA in our genes to prevent the development of cancer and other diseases. Our cells therefore activate and send “repair-proteins”...

Im Focus: Dresdner scientists print tomorrow’s world

The Fraunhofer IWS Dresden and Technische Universität Dresden inaugurated their jointly operated Center for Additive Manufacturing Dresden (AMCD) with a festive ceremony on February 7, 2017. Scientists from various disciplines perform research on materials, additive manufacturing processes and innovative technologies, which build up components in a layer by layer process. This technology opens up new horizons for component design and combinations of functions. For example during fabrication, electrical conductors and sensors are already able to be additively manufactured into components. They provide information about stress conditions of a product during operation.

The 3D-printing technology, or additive manufacturing as it is often called, has long made the step out of scientific research laboratories into industrial...

Im Focus: Mimicking nature's cellular architectures via 3-D printing

Research offers new level of control over the structure of 3-D printed materials

Nature does amazing things with limited design materials. Grass, for example, can support its own weight, resist strong wind loads, and recover after being...

Im Focus: Three Magnetic States for Each Hole

Nanometer-scale magnetic perforated grids could create new possibilities for computing. Together with international colleagues, scientists from the Helmholtz Zentrum Dresden-Rossendorf (HZDR) have shown how a cobalt grid can be reliably programmed at room temperature. In addition they discovered that for every hole ("antidot") three magnetic states can be configured. The results have been published in the journal "Scientific Reports".

Physicist Dr. Rantej Bali from the HZDR, together with scientists from Singapore and Australia, designed a special grid structure in a thin layer of cobalt in...

All Focus news of the innovation-report >>>

Anzeige

Anzeige

Event News

Booth and panel discussion – The Lindau Nobel Laureate Meetings at the AAAS 2017 Annual Meeting

13.02.2017 | Event News

Complex Loading versus Hidden Reserves

10.02.2017 | Event News

International Conference on Crystal Growth in Freiburg

09.02.2017 | Event News

 
Latest News

Biocompatible 3-D tracking system has potential to improve robot-assisted surgery

17.02.2017 | Medical Engineering

Real-time MRI analysis powered by supercomputers

17.02.2017 | Medical Engineering

Antibiotic effective against drug-resistant bacteria in pediatric skin infections

17.02.2017 | Health and Medicine

VideoLinks
B2B-VideoLinks
More VideoLinks >>>