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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Design, Fabrication, and Testing a Semiautomatic Sewing Device for Personalized Stent Graft Manufacturing
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Design, Fabrication, and Testing a Semiautomatic Sewing Device for Personalized Stent Graft Manufacturing

机译：设计，制造和测试用于个性化支架植入物制造的半自动缝纫设备

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摘要

For the treatment of abdominal aortic aneurysm, a personalized stent graft is used to ensure that it fits tightly to the patients vessel geometry. A personalized stent graft is usually handmade, which requires thousands of stitches and can take weeks or even months to complete. This delay may expose the patient to the risk of aneurysm rupture. This paper presents a robotic sewing device that can enhance the stent graft sewing speed by providing automated needle manipulation. It simplifies the sewing process and has the potential to achieve fully automated stent graft manufacturing via a vision-guided system. The device features a sewing probe that can switch a double-pointed semicircular needle between two movable jaws. This forgoes the need for manual needle handling including grasping, driving rotation, releasing, and regrasping, which requires a high level of manual dexterity and attention. This paper presents the design of the device, its mechanical synthesis and experimental validation. The focus of the paper is on the linkage parameter optimization and needle locking mechanism design. The proposed device has been fabricated using 3-D rapid prototyping techniques, and its performance has been compared with the conventional manual sewing method. The experimental results show that the device can achieve a 30% reduction of the completion time for a stitching task while achieving better consistency and quality of the stitches.
机译：为了治疗腹主动脉瘤，使用个性化的支架移植物以确保其紧密适合患者血管的几何形状。个性化的支架移植物通常是手工制作的，需要数千针，可能需要数周甚至数月才能完成。这种延迟可能使患者面临动脉瘤破裂的风险。本文提出了一种自动缝纫设备，该设备可以通过提供自动的针操作来提高支架移植物的缝合速度。它简化了缝合过程，并具有通过视觉引导系统实现全自动支架植入物制造的潜力。该设备具有一个缝制探针，可以在两个活动钳口之间切换双尖半圆针。这放弃了对手动针的处理，包括抓握，驱动旋转，释放和重新抓握，这需要高度的手动灵巧性和注意力。本文介绍了该设备的设计，其机械综合和实验验证。本文的重点是连杆参数的优化和针头锁定机构的设计。所提出的设备是使用3-D快速原型技术制造的，其性能已与传统的手动缝纫方法进行了比较。实验结果表明，该设备可以在完成缝合任务的同时将完成时间减少30％，同时实现更好的缝合质量和质量。

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