Yoshimitsu Kitaro, Kato Takahisa, Song Sang-Eun, Hata Nobuhiko
Department of Radiology, Brigham and Women's Hospital and Harvard Medical School, 75 Francis Street, SPL L1-050 ASB1, Boston, MA, USA,
Int J Comput Assist Radiol Surg. 2014 Sep;9(5):867-74. doi: 10.1007/s11548-014-0982-3. Epub 2014 Feb 8.
Robotic catheters have been proposed to increase the efficacy and safety of the radio-frequency ablation treatment. The robotized motion of current robotic catheters mimics the motion of manual ones-namely, deflection in one direction and rotation around the catheter. With the expectation that the higher dexterity may achieve further efficacy and safety of the robotically driven treatment, we prototyped a four-wire-driven robotic catheter with the ability to deflect in two- degree-of-freedom motions in addition to rotation.
A novel quad-directional structure with two wires was designed and developed to attain yaw and pitch motion in the robotic catheter. We performed a mechanical evaluation of the bendability and maneuverability of the robotic catheter and compared it with current manual catheters.
We found that the four-wire-driven robotic catheter can achieve a pitching angle of 184.7[Formula: see text] at a pulling distance of wire for 11 mm, while the yawing angle was 170.4[Formula: see text] at 11 mm. The robotic catheter could attain the simultaneous two- degree-of-freedom motions in a simulated cardiac chamber.
The results indicate that the four-wire-driven robotic catheter may offer physicians the opportunity to intuitively control a catheter and smoothly approach the focus position that they aim to ablate.
有人提出使用机器人导管来提高射频消融治疗的疗效和安全性。当前机器人导管的自动化运动模仿手动导管的运动，即在一个方向上弯曲并围绕导管旋转。期望更高的灵活性能够实现机器人驱动治疗的进一步疗效和安全性，我们制作了一种四线驱动的机器人导管原型，它除了能够旋转外，还能够在两个自由度上进行弯曲运动。
设计并开发了一种新颖的带有两根导线的四向结构，以实现机器人导管的偏航和俯仰运动。我们对机器人导管的可弯曲性和可操作性进行了机械评估，并将其与当前的手动导管进行了比较。
我们发现，四线驱动的机器人导管在导线拉动距离为11毫米时，俯仰角度可达184.7[公式：见正文]，而在11毫米时偏航角度为170.4[公式：见正文]。该机器人导管能够在模拟心腔内实现同时的两个自由度运动。
结果表明，四线驱动的机器人导管可能为医生提供直观控制导管并顺利接近他们想要消融的焦点位置的机会。
