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Magnetorheological Fluids Actuated Haptic-Based Teleoperated Catheter Operating System

机译：磁流变流体驱动的触觉式远距离导管操作系统

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摘要

During conventional catheter endovascular procedures, surgeons needs to adjust the catheter intervention moving direction and velocity according to the direct sensation. Moreover, in the conventional method, both the surgeon and the patient are inevitable exposed to a large amount of, and for a long period of time, X-ray radiation during the surgical procedure. The purpose of this paper is to ensure surgical safety and to protect the surgeon from X-ray radiation during the surgical procedure by adopting a novel haptic-based robot-assisted master-slave system mode. In this paper, a kind of magnetorheological fluids (MR fluids)-based haptic interface has been developed to generate a kind of controllable haptic sensation providing to the catheter operator, and the catheter intervention kinematics parameters measured the motion capture part to control the salve robotic catheter operating system following the master side kinematics. The slave catheter operating the mechanical system has also been designed and manufactured to manipulate the clinical catheter by mimicking the surgeon operating the catheter intervention surgical procedure, which has a 2-DOF (advance, retreat, and rotate) catheter motion characteristic; in addition, the interaction force between the catheter and inner wall of vasculature can be measured by its force sensing unit and the feedback to the master system. The catheter intervention synchronous evaluation experiments between the master and slave system are tested. Also, the advantages of integrating the controllable haptic sensation to the master-slave system experimental evaluations have been done in vitro. The experimental results demonstrated that the proposed haptic-based robot-assisted master-slave system mode can reduce the surgical time and protect the surgeon from X-ray radiation.
机译：在常规的导管血管内手术过程中，外科医生需要根据直接感觉来调整导管介入的移动方向和速度。此外，在常规方法中，在外科手术过程中，不可避免地使外科医生和患者都暴露于大量的X射线辐射中并长时间。本文的目的是通过采用一种新颖的基于触觉的机器人辅助主从系统模式来确保手术安全并在手术过程中保护外科医生免受X射线辐射。本文开发了一种基于磁流变液（MR流体）的触觉界面，以产生一种可控的触觉，提供给导管操作员，并通过导管干预运动学参数来测量运动捕获部分以控制从动机器人导管操作系统遵循主端运动学原理。还设计和制造了操作机械系统的从属导管，以通过模仿操作导管介入外科手术的外科医生来操纵临床导管，该手术具有2-DOF（前进，后退和旋转）导管运动特性；此外，导管和脉管内壁之间的相互作用力可以通过其力感测单元和对主系统的反馈来测量。测试了主系统和从系统之间的导管干预同步评估实验。而且，将可控触觉感觉整合到主从系统实验评估的优势已经在体外完成。实验结果表明，所提出的基于触觉的机器人辅助主从系统模式可以减少手术时间并保护外科医生免受X射线辐射的影响。

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