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首页> 外文会议>International Conference on Control, Automation, Robotics Vision >Design of a Master-Slave Robotic System for Intravascular Catheterization during Cardiac Interventions
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Design of a Master-Slave Robotic System for Intravascular Catheterization during Cardiac Interventions

机译：心脏干预期间血管内导尿管大型机器化系统的设计

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摘要

Recently, applications of robotic device is showing greater advances in surgery. While robotic catheterization has been embraced to reduce the operational challenges (radiation and orthopedic hazards) inherent with percutaneous coronary interventions (PCIs), robot-based cardiac interventions are still limited to very few clinical centers in the world. In this paper, the development and application of a robotic PCI system for intravascular catheterization is presented. The robotic system is setup with underactuated master-and-slave devices and a direct control model designed based on mapping unit scales of the master displacement to trigger the slave robot for intravascular catheterization. To validate the robotic system, in-vitro trials are observed in a human-like silicone-based vascular pathway with aortic stenosis. The master-slave robotic system was successfully used to cannulate the stenotic vascular pathway with guidewire and catheter. Thus, it can be suitably adapted for intravascular catheterization during PCI and related cardiac interventions.
机译：最近，机器人设备的应用在手术中显示出更大的进展。虽然机器人导管已经被纳入经皮冠状动脉干预（PCIS）固有的操作挑战（辐射和骨科危害），但基于机器人的心脏干预仍然仅限于世界上很少的临床中心。本文介绍了血管内导管型机器人PCI系统的开发和应用。机器人系统是通过欠锯的主设备和基于主位移的映射单元刻度设计的直接控制模型来设置，以触发用于血管内导管的从机器人。为了验证机器人系统，在具有主动脉狭窄的人样硅氧烷基血管途径中观察到体外试验。主从机器人系统已成功用于用导丝和导管插入狭窄的血管途径。因此，可以适合于PCI和相关心脏干预期间的血管内导管插入物。

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