SHAPE-BASED FORCE ESTIMATION METHOD FOR GUIDEWIRE NAVIGATION IN NEUROINTERVENTION SURGERY

Yang Xu, Jacob Golden, Ronin Mangla, Karen Wu, Sundeep Mangla, Sean Masur, Yong Shi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication17th International Conference on Micro- and Nanosystems (MNS)
ISBN (Electronic)9780791887370
DOIs
StatePublished - 2023
EventASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2023 - Boston, United States
Duration: 20 Aug 202323 Aug 2023

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume9

Conference

ConferenceASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2023
Country/TerritoryUnited States
CityBoston
Period20/08/2323/08/23

Keywords

  • Guidewire
  • Neurointervention
  • Shape-based force estimation

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