导管机器人系统的主从介入

Master-slave Intervention of Robotic Catheter System

传统的血管微创介入手术过程中医生在手术现场,其不可避免地遭受大量的X射线照射;并且导管的操作难度较大,对医生插管技术要求过高.针对此问题,研制了一种新型的集成有双电磁传感器的可定位导管机器人,并采用D-H法对其进行了运动学分析,同时设计了一套介入装置来代替医生进行导管操作,并通过对主从控制方法的研究实现了该系统的主从介入.在介入过程中,医生通过主手控制介入装置动作来实现导管的推/拉、旋转和弯曲操作,并可在引导图像的辅助下完成插管手术操作.实验表明,开发的可控导管具有较好的操作性能,介入装置实现了3种基本的介入操作,提高了导管的定位精度,同时主从介入方式也保证了医生在手术过程的安全性.

The traditional endovascular minimally invasive surgery needs surgeons to be present in the operating room, suffering from X-ray radiation.Also,the traditional catheter is so inflexible to manipulate that it requires doctors to have adequate skills of catheterization.For this problem,a positionable robotic catheter with two electromagnetic sensors is developed, and the D-H method is adopted to perform the kinematic analysis.Meanwhile a set of customized interventional mechanisms are designed to substitute the surgeon to manipulate the catheter,and a master-slave control method is developed to implement master-slave intervention with this system.In the procedure,the surgeon uses master handle to control interventional mechanisms to pull/push,rotate and bend the catheter,and accomplishes the procedure of catheterization with the assistance of guiding image.Experiments demonstrate that the steerable catheter has good manipulation,and interventional mechanisms can achieve three operations with higher positioning accuracy,besides the master-slave method can guarantee the safety of surgeons in the procedure.