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JRM Vol.34 No.6 pp. 1297-1305
doi: 10.20965/jrm.2022.p1297
(2022)

Paper:

Development of a Force Sensor for a Neuroendovascular Intervention Support Robot System

Hiroki Tadauchi*1, Yoshitaka Nagano*2, Shigeru Miyachi*3,*4, Reo Kawaguchi*3, Tomotaka Ohshima*4, and Naoki Matsuo*3

*1Graduate School of Engineering, Aichi University of Technology
50-2 Manori, Nishihasama-cho, Gamagori, Aichi 443-0047, Japan

*2Faculty of Engineering, Aichi University of Technology
50-2 Manori, Nishihasama-cho, Gamagori, Aichi 443-0047, Japan

*3Department of Neurological Surgery, Aichi Medical University
1-1 Yazakokarimata, Nagakute, Aichi 480-1195, Japan

*4Neuroendovascular Therapy Center, Aichi Medical University
1-1 Yazakokarimata, Nagakute, Aichi 480-1195, Japan

Received:
May 31, 2022
Accepted:
October 6, 2022
Published:
December 20, 2022
Keywords:
remote surgery, medical wire, coil embolization, disposable, cumulative exposure
Abstract
Development of a Force Sensor for a Neuroendovascular Intervention Support Robot System

Neuroendovascular intervention support robot

Neuroendovascular catheterization using fluoroscopy poses the problem to operators and staffs of cumulative radiation exposure. To solve this problem, we are developing a remote-controlled master-slave robot. Because a wire-like elongated treatment device is inserted into a blood vessel using a catheter, the robot requires a sensor to detect the insertion force of the wire. The proposed sensor is integrated into a robot installed in an X-ray fluoroscopy room that is remotely controlled from another room. The features of this sensor include measurement of the insertion force with sufficient accuracy, simple wire attachment, and an inexpensive disposable sensor head, rendering it very suitable for practical application. In this paper, we report on these features, as well as the results of a practical test of the sensor using a cerebrovascular model.

Cite this article as:
H. Tadauchi, Y. Nagano, S. Miyachi, R. Kawaguchi, T. Ohshima, and N. Matsuo, “Development of a Force Sensor for a Neuroendovascular Intervention Support Robot System,” J. Robot. Mechatron., Vol.34, No.6, pp. 1297-1305, 2022.
Data files:
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Last updated on Feb. 01, 2023