基于传热学分析的导管导向机器人驱动控制技术研究

Study on the Actuation and Control System of the Guiding Robot for Catheter Based on Heat Transfer Analysis

为了保证手术安全性,防止导管导向机器人形状记忆合金(SMA)驱动器产生过热现象,本研究设计了一种导向机器人电阻反馈驱动控制系统。在对SMA驱动器进行了详细的传热学分析的基础上,确定使用脉宽调制(PWM)电源驱动SMA驱动器时的电流计算方法,开发适用于导管导向机器人的电阻反馈驱动控制系统。在血管模型中模拟了介入手术的插管过程,按照预定的模拟手术路线,在电阻反馈控制系统的控制下,成功地完成了导向机器人进入目标血管分支的实验。实验结果表明,整个模拟介入手术准确迅速,导向机器人的应用大大降低了手术的难度。

In order to ensure safety of the operation and prevent overheating of the shape memory alloy （SMA） actuators of the guiding robot used for catheters, we designed an actuation and control system with resistance feedback for the guiding robot, Heat transfer analysis of the SMA actuator was discussed, and the electric current of the SMA actuator driven by pulse-width modulation （PWM） was deduced. Based on heat transfer analysis, a resistance feedback actuation and control system of the guiding robot was developed. In the vascular model, we simulated the catheterization process in the interposition surgery. In light of the scheduled surgery route, the guiding robot entered the target vas ramous successfully under the control of the designed system. The experimental results showed that the invasive surgery process could be simulated accurately and rapidly. The application of the guiding robot can greatly reduces the difficulty of the operation.