University of Twente Student Theses


Modelling of Shared Control of Endovascular Surgical Instruments in SOFA

Bos, Jochem (2023) Modelling of Shared Control of Endovascular Surgical Instruments in SOFA.

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Embargo date:9 May 2024
Abstract:Cardiovascular disease is one of the primary causes of the death in the developed world. A significant subset of these diseases is treated with endovascular surgery using a catheter and guidewire combination. The manual insertion of surgical instruments into the veins of patients carries risks towards the structural integrity of the blood vessels, and therefore the health of the patient. This thesis describes a hardware-in-the-loop framework including a robotic control platform in the SOFA simulation environment, connected and controlled via Python. The developed framework includes instrument force assessment, Bezier spline-based trajec- Â tory planning for endovascular instruments and an implementation of shared attitude control. It provides an interactive simulation with the aim to test a control implementationAnonymization that might prevent dangerous situations from occurring via a combined approach of haptic feedback, input-blending shared control and visual guidance. Furthermore, the thesis presents the base for a surgical training network in simulation that can offer real-time visual and haptic feedback during the simulated procedure. Framework and control performance were evaluated qualitatively and quantitatively on different operators (N=3) during two to four separate trials with four different levels of haptic feedback and guidance. From the final set of trials is concluded that the implemented control method serves at a guidance level of 0.25 is able to reduce the mean navigational error by 17.4% (p < 0.001), and that haptic feedback and shared control at the low (0.25) and medium levels (0.66) can reduce the mean tip force by 14.6% and 22.6% respectively (p < 0.001). During qualitative evaluation of framework performance, it is concluded that the core framework performs as intended and forms a solid base to expand upon for both control development and surgical training purposes.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:44 medicine, 50 technical science in general, 52 mechanical engineering, 54 computer science
Programme:Systems and Control MSc (60359)
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