血管介入机器人导管递送力实时检测系统研究

Research on real-time detection system of catheter delivering force in vascular interventional robots

针对血管介入手术机器人导管递送力检测问题,提出一种基于应力应变原理的导管递送力实时检测方法。首先,对导管递送力在介入机器人从端内部的传递过程进行了分析与建模,并得出导管递送力检测系统设计原则;其次,基于应力应变原理,设计了一种集成于介入机器人从端内部传动轴的扭矩传感器,并建立了数据采集与处理系统;再次,采用ATI高精度扭矩传感器搭建实验平台,对传感器进行了标定与校准实验;最后,进行了理想静/动态条件下的传感器测试实验,以及基于人体真实计算机断层扫描(CT)数据血管模型的模拟导管递送测试实验。结果表明,所设计的传感器系统在理想静态条件下平均相对检测误差为1.26%,理想动态稳定条件下平均相对检测误差为1.38%,可实现导管递送力高精度在线检测,对提高介入机器人手术安全性具有重要意义。

In existing vascular interventional surgical robots, it is difficult to accurately detect the delivery force of the catheter/guidewire at the slave side. Aiming to solve this problem, a real-time force detection system was designed for vascular interventional surgical(VIS) robots based on catheter push force. Firstly, the transfer process of catheter operating forces in the slave end of the interventional robot was analyzed and modeled, and the design principle of the catheter operating force detection system was obtained. Secondly, based on the principle of stress and strain, a torque sensor was designed and integrated into the internal transmission shaft of the slave end of the interventional robot, and a data acquisition and processing system was established. Thirdly, an ATI high-precision torque sensor was used to build the experimental platform, and the designed sensor was tested and calibrated. Finally, sensor test experiments under ideal static/dynamic conditions and simulated catheter delivery tests based on actual human computed tomography(CT) data and vascular model were carried out. The results showed that the average relative detection error of the designed sensor system was 1.26% under ideal static conditions and 1.38% under ideal dynamic stability conditions. The system can detect on-line catheter operation force at high precision, which is of great significance towards improving patient safety in interventional robotic surgery.