In Vivo Usability Test of Vascular Intervention Robotic System Controlled by Two Types of Master Devices
Conventional vascular intervention (VI) procedures are typically performed manually under exposure to X-rays, whereby several problems are presented that need to be addressed owing to the patients and doctors being exposed to large amounts of radiation. In such cases, employing radiation protection...
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doaj-27b4b7c4e4194dca90c9f9b248ebb9b12021-07-01T00:00:30ZengMDPI AGApplied Sciences2076-34172021-06-01115453545310.3390/app11125453In Vivo Usability Test of Vascular Intervention Robotic System Controlled by Two Types of Master DevicesHwa-Seob Song0Jae-Hong Woo1Jong-Yun Won2Byung-Ju Yi3Department of Electrical and Electronic Engineering, Hanyang University, Ansan 15588, Gyeonggi-do, KoreaDepartment of Research Institute of Engineering & Technology, Hanyang University, Ansan 15588, Gyeonggi-do, KoreaDepartment of Radiology, Research Institute of Radiological Science, Yonsei University College of Medicine, Seoul 03722, KoreaDepartment of Electrical and Electronic Engineering, Hanyang University, Ansan 15588, Gyeonggi-do, KoreaConventional vascular intervention (VI) procedures are typically performed manually under exposure to X-rays, whereby several problems are presented that need to be addressed owing to the patients and doctors being exposed to large amounts of radiation. In such cases, employing radiation protection units is not a long-term solution to avoid physical damage. Therefore, to overcome these issues, we propose a robotic VI system in this study. Moreover, we compare the extent of radiation exposure in the case of the conventional manual VI procedure with that in the case of the robotic procedure. The radiation exposure is then analyzed from the perspective of the doctor. Subsequently, the results of usability tests for two proposed master devices are presented in terms of the NASA task load index (NASA-TLX) and the system usability scale (SUS) score. To verify the effectiveness of the robotic VI system, animal experiments are conducted using a pig model. Among the two types of master devices tested with the proposed robotic VI system, the ergonomically designed 2-degree-of-freedom master device is found to be more effective than the joystick-type device in terms of the usability test scores. Hence, the proposed robotic VI procedure is shown to be advantageous in terms of reducing radiation exposure and improving usability.https://www.mdpi.com/2076-3417/11/12/5453animal experimentmaster–slave systemmedical robotradiation exposureusability testvascular intervention robot |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Hwa-Seob Song Jae-Hong Woo Jong-Yun Won Byung-Ju Yi |
spellingShingle |
Hwa-Seob Song Jae-Hong Woo Jong-Yun Won Byung-Ju Yi In Vivo Usability Test of Vascular Intervention Robotic System Controlled by Two Types of Master Devices Applied Sciences animal experiment master–slave system medical robot radiation exposure usability test vascular intervention robot |
author_facet |
Hwa-Seob Song Jae-Hong Woo Jong-Yun Won Byung-Ju Yi |
author_sort |
Hwa-Seob Song |
title |
In Vivo Usability Test of Vascular Intervention Robotic System Controlled by Two Types of Master Devices |
title_short |
In Vivo Usability Test of Vascular Intervention Robotic System Controlled by Two Types of Master Devices |
title_full |
In Vivo Usability Test of Vascular Intervention Robotic System Controlled by Two Types of Master Devices |
title_fullStr |
In Vivo Usability Test of Vascular Intervention Robotic System Controlled by Two Types of Master Devices |
title_full_unstemmed |
In Vivo Usability Test of Vascular Intervention Robotic System Controlled by Two Types of Master Devices |
title_sort |
in vivo usability test of vascular intervention robotic system controlled by two types of master devices |
publisher |
MDPI AG |
series |
Applied Sciences |
issn |
2076-3417 |
publishDate |
2021-06-01 |
description |
Conventional vascular intervention (VI) procedures are typically performed manually under exposure to X-rays, whereby several problems are presented that need to be addressed owing to the patients and doctors being exposed to large amounts of radiation. In such cases, employing radiation protection units is not a long-term solution to avoid physical damage. Therefore, to overcome these issues, we propose a robotic VI system in this study. Moreover, we compare the extent of radiation exposure in the case of the conventional manual VI procedure with that in the case of the robotic procedure. The radiation exposure is then analyzed from the perspective of the doctor. Subsequently, the results of usability tests for two proposed master devices are presented in terms of the NASA task load index (NASA-TLX) and the system usability scale (SUS) score. To verify the effectiveness of the robotic VI system, animal experiments are conducted using a pig model. Among the two types of master devices tested with the proposed robotic VI system, the ergonomically designed 2-degree-of-freedom master device is found to be more effective than the joystick-type device in terms of the usability test scores. Hence, the proposed robotic VI procedure is shown to be advantageous in terms of reducing radiation exposure and improving usability. |
topic |
animal experiment master–slave system medical robot radiation exposure usability test vascular intervention robot |
url |
https://www.mdpi.com/2076-3417/11/12/5453 |
work_keys_str_mv |
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