This exploratory research project aimed to develop, prototype, and evaluate an intuitive haptic feedback-centric user interface to simulate forces to the likeness of traditional methods of neuro-interventional procedures. Decoupling the interventionist from the location of the procedure seeks to lower the prolonged radial exposure to the surgeon as well as the barrier of entry needed for the adoption of existing interventionist patient-side robotics for this procedure on the market. The system proposed and implemented methods to replicate the traditional over-the-wire operation with accurate tactile sensation on the wires and catheters. The team was able to effectively utilize mechanical, electrical, software, and systems engineering techniques to provide haptic feedback within a 5% accuracy of force replication. Further work on this technique could yield a real-time system that could allow surgeons to operate on patients regardless of location or robotic platform being employed.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Wilke, Ethan
• Mullenberg, Troy

Publisher

• Worcester Polytechnic Institute

Identifier

• 93346
• E-project-031723-155944

关键词

• Field oriented control
• Neurointervention robot
• Intuitive Remote Control
• Haptic Feedback

Advisor

• Zhang, Haichong
• Zheng, Yihao
• Zhang, Ziming

Year

• 2023

Date created

• 2023-03-17

Resource type

• Major Qualifying Project

Major

• Electrical & Computer Engineering
• Biomedical Engineering

Source

• E-project-031723-155944

Rights statement

• In Copyright

最新修改

• 2023-04-19