Kesner Samuel B, Howe Robert D
Harvard School of Engineering and Applied Sciences, Cambridge, MA, 02138 USA.
IEEE Trans Robot. 2011 Jul 21;PP(99):1-11. doi: 10.1109/TRO.2011.2160467.
Robotic catheters have the potential to revolutionize cardiac surgery by enabling minimally invasive structural repairs within the beating heart. This paper presents an actuated catheter system that compensates for the fast motion of cardiac tissue using 3D ultrasound image guidance. We describe the design and operation of the mechanical drive system and catheter module and analyze the catheter performance limitations of friction and backlash in detail. To mitigate these limitations, we propose and evaluate mechanical and control system compensation methods, including inverse and model-based backlash compensation, to improve the system performance. Finally, in vivo results are presented that demonstrate that the catheter can track the cardiac tissue motion with less than 1 mm RMS error. The ultimate goal of this research is to create a fast and dexterous robotic catheter system that can perform surgery on the delicate structures inside of the beating heart.
机器人导管有潜力通过在跳动的心脏内实现微创结构修复，给心脏手术带来变革。本文介绍了一种使用三维超声图像引导来补偿心脏组织快速运动的驱动导管系统。我们描述了机械驱动系统和导管模块的设计与操作，并详细分析了导管在摩擦和间隙方面的性能限制。为减轻这些限制，我们提出并评估了机械和控制系统补偿方法，包括基于逆模型和模型的间隙补偿，以提高系统性能。最后，给出了体内实验结果，表明该导管能够以均方根误差小于1毫米的精度跟踪心脏组织运动。本研究的最终目标是创建一个快速且灵活的机器人导管系统，能够对跳动心脏内部的精细结构进行手术。
