机器人辅助导管自动介入的研究

Study on automatic catheterization of robot auxiliary catheter

为了实现可操作导管在血管内自动或半自动的介入操作,提出了一种基于连续机器人模型的运动控制方法。首先开发了一种具有专用手柄的钢丝牵引导管,并运用D-H法对导管远端进行了运动学分析,获得导管运动控制规律;然后根据导管可实现的自由度研制其输送装置;最后通过确保导管端点位于控制圆内的策略,利用输送装置操作导管在血管模型主动脉弓中自动介入。实验结果表明,在血管主动脉弓中该方法能够实现导管自动介入的操作。

In order to implement automatic or semi-automatic catheterization in minimally invasive cardiac interventions by manipulating steerable catheter,a control strategy based on continuum robot model is proposed.Firstly,a steerable catheter with special handle was devised,and by using D-H method,the kinematics control law is acquired;And then catheter robot is developed based on the freedom of catheter;Finally,automatic catheterization using insertion mechanism is accomplished in aortic arch,by applying an approach to ensure the distal shaft of catheter to lie in the control circle.Experimental results indicate that the presented method could fulfill automatic catheterization in aortic arch.