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首页> 美国卫生研究院文献>Micromachines >A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization
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A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization

机译：一种基于力传感和弯曲反馈的安全保护策略的远程控制机器人系统用于经截面动脉化疗栓塞

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Transcatheter arterial chemoembolization (TACE) is the common choice of non-open surgery for hepatocellular carcinoma (HCC) now. In this study, a simple TACE robotic system of 4-degree-of-freedom is proposed to get higher accuracy and stability of the surgery operation and reduce X-ray exposure time of the surgeons. The master–slave control strategy is adopted in the robotic system and a customized sigmoid function is designed to optimize the joystick control of the master–slave robotic control system. A force-sensing module is developed to sense the resistance of the guide wire in linear delivery motion and an auxiliary bending feedback method based on constraint pipe with a film sensor is proposed. With two force-sensing methods, the safety strategy of robotic motion with 9 different motion constraint coefficients is given and a human–computer interface is developed. The TACE robot would monitor the value of the force sensor and the analog voltage of the film sensor to adopt the corresponding motion constraint coefficient in every 10 ms. Vascular model experiments were performed to validate the robotic system, and the results showed that the safety strategy could improve the reliability of the operation with immediate speed constraint and avoid potential aggressive delivery.
机译：经导管动脉化疗栓塞（TACE）现在是肝细胞癌（HCC）非开放手术的常见选择。在这项研究中，提出了一种简单的TACE机器人系统的4-自由度，以获得更高的手术操作的准确性和稳定性，并降低外科医生的X射线暴露时间。机器人系统采用主从控制策略，旨在优化主从机器人控制系统的操纵杆控制。开发了一种力传感模块以感测导线在线性输送运动中的电阻和基于具有薄膜传感器的约束管的辅助弯曲反馈方法。通过两种力传感方法，给出了具有9种不同运动约束系数的机器人运动的安全策略，并且开发了人机界面。 TACE机器人将监测力传感器的值和薄膜传感器的模拟电压，以在每10毫秒中采用相应的运动约束系数。进行血管模型实验以验证机器人系统，结果表明，安全策略可以通过即时速度约束提高操作的可靠性，避免潜在的积极交付。

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