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Hedyeh Rafii-Tari, MASc, Celia V. Riga, MD, FRCS, Christopher J

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Presentation on theme: "Hedyeh Rafii-Tari, MASc, Celia V. Riga, MD, FRCS, Christopher J"— Presentation transcript:

1 Reducing contact forces in the arch and supra-aortic vessels using the Magellan robot 
Hedyeh Rafii-Tari, MASc, Celia V. Riga, MD, FRCS, Christopher J. Payne, MEng, Mohamad S. Hamady, FRCR, Nicholas J.W. Cheshire, MD, FRCS, Colin D. Bicknell, MD, FRCS, Guang-Zhong Yang, PhD, FREng  Journal of Vascular Surgery  Volume 64, Issue 5, Pages (November 2016) DOI: /j.jvs Copyright © 2015 Society for Vascular Surgery Terms and Conditions

2 Fig 1 Experimental setup depicting the robotic catheter (a), the operator workstation (b), detailed view of the force measurement platform and force/torque (F/T) sensor (c and d), simulated fluoroscopy image for guidance (e), and the three procedural phases (f). Journal of Vascular Surgery  , DOI: ( /j.jvs ) Copyright © 2015 Society for Vascular Surgery Terms and Conditions

3 Fig 2 Bar chart shows the median values for the maximum contact forces (CF) exerted during cannulation of each of the arteries for the robotic vs the manual approach, across all operators. The error bars represent the interquartile ranges (IQRs; Wilcoxon rank test). LCCA, Left common carotid artery; LSA, left subclavian artery; RCCA, right common carotid artery. Journal of Vascular Surgery  , DOI: ( /j.jvs ) Copyright © 2015 Society for Vascular Surgery Terms and Conditions

4 Fig 3 Examples of contact forces (CF) exerted by expert (a) and novice (b) operators, with the conventional (light color) and robotic (dark color) approach. The colors show the three phases of the procedure for cannulation of the right common carotid artery (RCCA). Journal of Vascular Surgery  , DOI: ( /j.jvs ) Copyright © 2015 Society for Vascular Surgery Terms and Conditions

5 Fig 4 Color gradient depicting the magnitude of the contact forces (CF) over the catheter path for the manual (a) vs robotic (b) approach, for cannulation of the right common carotid artery (RCCA) by an expert operator. Journal of Vascular Surgery  , DOI: ( /j.jvs ) Copyright © 2015 Society for Vascular Surgery Terms and Conditions

6 Fig 5 Bar charts show the median values for the number of force peaks (significant contacts) with the aortic arch wall during cannulation of each of the arteries for the robotic vs the manual approach (a), as well as the median values for the force impact over time (FIT) during cannulation of each of the arteries for the robotic vs the manual approach (b), across all operators. The error bars represent the interquartile ranges (IQRs; Wilcoxon rank test). LCCA, Left common carotid artery; LSA, left subclavian artery; RCCA, right common carotid artery. Journal of Vascular Surgery  , DOI: ( /j.jvs ) Copyright © 2015 Society for Vascular Surgery Terms and Conditions

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