Tracking natural guidewire manipulations with an improved data glove

Natural guidewire manipulations of surgeons in percutaneous coronary intervention (PCI), rotating and translating a guidewire with finger and hand motion, are important and useful references to build a knowledge base (KB) for robotic autonomous intervention. In this paper, guidewire manipulation models are proposed using an improved data glove, in which a 6-DOF position/orientation sensor is installed. The tracking functions between the surgeon's manipulations and guidewire motions are established according to the models. The performance of proposed method is analyzed with tracking errors and the statistical significance of tracking trajectories is evaluated with the Kruskal-Wallis test. The results show that radial rotation tracking error is 20.24 ± 8.38 (°) and axial advancement tracking error is 0.99 ± 0.81 (mm) at a medium delivery speed.

I. Introduction

Vascular interventional robot is becoming increasingly popular in the treatment of cardiovascular diseases (CVDs) [1], such as Magellan robotic system developed by Hansen Medical and CorPath 200 System (Corindus, Inc., Natick, Massachusetts) [2], [3]. In robot-assisted intervention, the surgeon controls the robotic system to implement interventional manipulations via a joystick or haptic device under the guidance of a fluoroscope. Therefore, there is merit in reducing the radiation exposure to the interventionalist with the master-slave teleoperated way [4].