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Cardiac X-ray image-based haptic guidance for robot-assisted coronary intervention: a feasibility study

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

Effective and efficient haptic guidance is desirable for tele-operated robotic surgery because it has a potential to enhance surgeon’s skills, especially in coronary interventions where surgeon loses both an eye–hand coordination and a direct sight to the organ. This paper proposes a novel haptic guidance procedure—both kinesthetic and cutaneous, which solely depends upon X-ray images, for tele-robotic system that assists an efficient navigation of the guidewire towards the target location during a coronary intervention.

Methods

Proposed methodology requires cardiologists to draw virtual fixtures (VFs) on angiograms as a preoperative procedure. During an operation, these VFs direct the guidewire to the desired coronary vessel. For this, the position and orientation of guidewire tip are calculated with respect to VFs’ anatomy, using image processing on the real-time 2D fluoroscopic images. The haptic feedbacks are then rendered on to the master device depending on the interaction with attractive and repulsive, guidance and forbidden region VFs.

Results

A feasibility study in the laboratory environment is performed by using a webcam as an image acquisition device and a phantom-based coronary vessel model. The subsequent statistical analysis shows that, on an average, a decrease of approx. 37% in task completion time is observed with haptic feedback. Moreover, haptic guidance is found effective for most difficult branch, whereas there is a minimal significance of such haptics for the easiest branch.

Conclusions

The proposed haptic guidance procedure may assist cardiologists for an efficient and effective guidewire navigation during a surgical procedure. The cutaneous haptics (vibration feedback) is found more helpful in coronary interventions compared with kinesthetic haptics (force feedback).

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Acknowledgements

Authors acknowledge the equipment and lab resources are provided by University of Engineering and Technology, Lahore (Faisalabad Campus).

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Authors and Affiliations

  1. Department of Mechatronics and Control Engineering, University of Engineering and Technology Lahore, Faisalabad Campus, Lahore, Pakistan

    Abdullah Tahir, Hashim Iqbal, Muhammad Usman, Asim Ghaffar & Awais Hafeez

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  1. Abdullah Tahir
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  2. Hashim Iqbal
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  3. Muhammad Usman
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Correspondence to Asim Ghaffar.

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Tahir, A., Iqbal, H., Usman, M. et al. Cardiac X-ray image-based haptic guidance for robot-assisted coronary intervention: a feasibility study. Int J CARS 17, 531–539 (2022). https://doi.org/10.1007/s11548-022-02563-w

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  • DOI: https://doi.org/10.1007/s11548-022-02563-w

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