Login | Register

Image-Based Force Estimation and Haptic Rendering For Robot-Assisted Cardiovascular Intervention

Title:

Image-Based Force Estimation and Haptic Rendering For Robot-Assisted Cardiovascular Intervention

Hooshiar, Amir ORCID: https://orcid.org/0000-0002-9036-5331 (2021) Image-Based Force Estimation and Haptic Rendering For Robot-Assisted Cardiovascular Intervention. PhD thesis, Concordia University.

[thumbnail of Hooshiar_PhD_S2021.pdf]
Preview
Text (application/pdf)
Hooshiar_PhD_S2021.pdf - Accepted Version
Available under License Spectrum Terms of Access.
5MB

Abstract

Clinical studies have indicated that the loss of haptic perception is the prime limitation of robot-assisted cardiovascular intervention technology, hindering its global adoption. It causes compromised situational awareness for the surgeon during the intervention and may lead to health risks for the patients. This doctoral research was aimed at developing technology for addressing the limitation of the robot-assisted intervention technology in the provision of haptic feedback. The literature review showed that sensor-free force estimation (haptic cue) on endovascular devices, intuitive surgeon interface design, and haptic rendering within the surgeon interface were the major knowledge gaps. For sensor-free force estimation, first, an image-based force estimation methods based on inverse finite-element methods (iFEM) was developed and validated. Next, to address the limitation of the iFEM method in real-time performance, an inverse Cosserat rod model (iCORD) with a computationally efficient solution for endovascular devices was developed and validated. Afterward, the iCORD was adopted for analytical tip force estimation on steerable catheters. The experimental studies confirmed the accuracy and real-time performance of the iCORD for sensor-free force estimation. Afterward, a wearable drift-free rotation measurement device (MiCarp) was developed to facilitate the design of an intuitive surgeon interface by decoupling the rotation measurement from the insertion measurement. The validation studies showed that MiCarp had a superior performance for spatial rotation measurement compared to other modalities. In the end, a novel haptic feedback system based on smart magnetoelastic elastomers was developed, analytically modeled, and experimentally validated. The proposed haptics-enabled surgeon module had an unbounded workspace for interventional tasks and provided an intuitive interface. Experimental validation, at component and system levels, confirmed the usability of the proposed methods for robot-assisted intervention systems.

Divisions:Concordia University > Gina Cody School of Engineering and Computer Science > Mechanical, Industrial and Aerospace Engineering
Item Type:Thesis (PhD)
Authors:Hooshiar, Amir
Institution:Concordia University
Degree Name:Ph. D.
Program:Mechanical Engineering
Date:25 February 2021
Thesis Supervisor(s):Dargahi, Javad
ID Code:988220
Deposited By: Seyed Amir Hooshiar Ahmedi
Deposited On:29 Jun 2021 22:28
Last Modified:10 Apr 2022 00:00
All items in Spectrum are protected by copyright, with all rights reserved. The use of items is governed by Spectrum's terms of access.

Repository Staff Only: item control page

Downloads per month over past year

Research related to the current document (at the CORE website)
- Research related to the current document (at the CORE website)
Back to top Back to top