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An assembly-type master-slave catheter and guidewire driving system for vascular intervention

DC FieldValueLanguage
dc.contributor.author원종윤-
dc.date.accessioned2020-07-16T16:52:37Z-
dc.date.available2020-07-16T16:52:37Z-
dc.date.issued2017-01-
dc.identifier.issn0954-4119-
dc.identifier.urihttps://ir.ymlib.yonsei.ac.kr/handle/22282913/178364-
dc.description.abstractCurrent vascular intervention inevitably exposes a large amount of X-ray to both an operator and a patient during the procedure. The purpose of this study is to propose a new catheter driving system which assists the operator in aspects of less X-ray exposure and convenient user interface. For this, an assembly-type 4-degree-of-freedom master-slave system was designed and tested to verify the efficiency. First, current vascular intervention procedures are analyzed to develop a new robotic procedure that enables us to use conventional vascular intervention devices such as catheter and guidewire which are commercially available in the market. Some parts of the slave robot which contact the devices were designed to be easily assembled and dissembled from the main body of the slave robot for sterilization. A master robot is compactly designed to conduct insertion and rotational motion and is able to switch from the guidewire driving mode to the catheter driving mode or vice versa. A phantom resembling the human arteries was developed, and the master-slave robotic system is tested using the phantom. The contact force of the guidewire tip according to the shape of the arteries is measured and reflected to the user through the master robot during the phantom experiment. This system can drastically reduce radiation exposure by replacing human effort by a robotic system for high radiation exposure procedures. Also, benefits of the proposed robot system are low cost by employing currently available devices and easy human interface.-
dc.description.statementOfResponsibilityrestriction-
dc.languageEnglish-
dc.publisherPublished for the Institution by Mechanical Engineering Publications Ltd-
dc.relation.isPartOfPROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE-
dc.rightsCC BY-NC-ND 2.0 KR-
dc.titleAn assembly-type master-slave catheter and guidewire driving system for vascular intervention-
dc.typeArticle-
dc.contributor.collegeCollege of Medicine (의과대학)-
dc.contributor.departmentDept. of Radiology (영상의학교실)-
dc.contributor.googleauthorHyo-Jeong Cha-
dc.contributor.googleauthorByung-Ju Yi-
dc.contributor.googleauthorJong Yun Won-
dc.identifier.doi10.1177/0954411916679328-
dc.contributor.localIdA02443-
dc.relation.journalcodeJ03845-
dc.identifier.eissn2041-3033-
dc.identifier.pmid28097937-
dc.identifier.urlhttps://journals.sagepub.com/doi/full/10.1177/0954411916679328-
dc.subject.keywordVascular intervention-
dc.subject.keywordcatheter and guidewire driving system-
dc.subject.keywordendovascular surgery-
dc.subject.keywordhaptics-
dc.subject.keywordmaster–slave robotic system-
dc.contributor.alternativeNameWon, Jong Yun-
dc.contributor.affiliatedAuthor원종윤-
dc.citation.volume231-
dc.citation.number1-
dc.citation.startPage69-
dc.citation.endPage79-
dc.identifier.bibliographicCitationPROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE, Vol.231(1) : 69-79, 2017-01-
Appears in Collections:
1. College of Medicine (의과대학) > Dept. of Radiology (영상의학교실) > 1. Journal Papers

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