TY - GEN
T1 - SHAPE-BASED FORCE ESTIMATION METHOD FOR GUIDEWIRE NAVIGATION IN NEUROINTERVENTION SURGERY
AU - Xu, Yang
AU - Golden, Jacob
AU - Mangla, Ronin
AU - Wu, Karen
AU - Mangla, Sundeep
AU - Masur, Sean
AU - Shi, Yong
N1 - Publisher Copyright:
© 2023 by ASME.
PY - 2023
Y1 - 2023
N2 - A study is currently being conducted on a robotic system designed to assist surgeons during neuroendovascular interventions. To navigate the robotic-assisted system through the vascular artery network, a guidewire is employed. However, the existing commercial robotic system lacks a force feedback mechanism, which could potentially pose safety concerns due to the contact force or friction between the guidewire and the vascular artery. Since the entire procedure is captured by X-ray imaging, it is feasible to estimate the force exerted on the artery by analyzing the shape of the guidewire. This article proposes a force estimation method that relies on the changes in the guidewire’s shape during the contact process. By examining its curvature, the contact force and friction force of the guidewire can be calculated. The turning points on the curvature curve enable the determination of the contact positions for multi-point loading. The effectiveness of the proposed shape-based force estimation method is validated through Finite Element Method (FEM) simulations, which demonstrate a good approximation. The error between the actual and estimated forces at most contact points is approximately 10%. Furthermore, the proposed method is further substantiated through an experimental test, where it is observed that the accuracy of curvature calculation is directly linked to the contour fitting process. Improved results in curvature calculation are achieved by employing more points for each segment fitting.
AB - A study is currently being conducted on a robotic system designed to assist surgeons during neuroendovascular interventions. To navigate the robotic-assisted system through the vascular artery network, a guidewire is employed. However, the existing commercial robotic system lacks a force feedback mechanism, which could potentially pose safety concerns due to the contact force or friction between the guidewire and the vascular artery. Since the entire procedure is captured by X-ray imaging, it is feasible to estimate the force exerted on the artery by analyzing the shape of the guidewire. This article proposes a force estimation method that relies on the changes in the guidewire’s shape during the contact process. By examining its curvature, the contact force and friction force of the guidewire can be calculated. The turning points on the curvature curve enable the determination of the contact positions for multi-point loading. The effectiveness of the proposed shape-based force estimation method is validated through Finite Element Method (FEM) simulations, which demonstrate a good approximation. The error between the actual and estimated forces at most contact points is approximately 10%. Furthermore, the proposed method is further substantiated through an experimental test, where it is observed that the accuracy of curvature calculation is directly linked to the contour fitting process. Improved results in curvature calculation are achieved by employing more points for each segment fitting.
KW - Guidewire
KW - Neurointervention
KW - Shape-based force estimation
UR - http://www.scopus.com/inward/record.url?scp=85178659259&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85178659259&partnerID=8YFLogxK
U2 - 10.1115/DETC2023-112293
DO - 10.1115/DETC2023-112293
M3 - Conference contribution
AN - SCOPUS:85178659259
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 17th International Conference on Micro- and Nanosystems (MNS)
T2 - ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2023
Y2 - 20 August 2023 through 23 August 2023
ER -