Cha Hyo-Jeong, Yi Byung-Ju, Won Jong Yun
1 Department of Electronic, Electrical, Control and Instrumentation Engineering, Hanyang University, Ansan, South Korea.
2 Department of Electronic Systems Engineering, Hanyang University, Ansan, South Korea.
Proc Inst Mech Eng H. 2017 Jan;231(1):69-79. doi: 10.1177/0954411916679328. Epub 2016 Dec 22.
Current vascular intervention inevitably exposes a large amount of X-ray to both an operator and a patient during the procedure. The purpose of this study is to propose a new catheter driving system which assists the operator in aspects of less X-ray exposure and convenient user interface. For this, an assembly-type 4-degree-of-freedom master-slave system was designed and tested to verify the efficiency. First, current vascular intervention procedures are analyzed to develop a new robotic procedure that enables us to use conventional vascular intervention devices such as catheter and guidewire which are commercially available in the market. Some parts of the slave robot which contact the devices were designed to be easily assembled and dissembled from the main body of the slave robot for sterilization. A master robot is compactly designed to conduct insertion and rotational motion and is able to switch from the guidewire driving mode to the catheter driving mode or vice versa. A phantom resembling the human arteries was developed, and the master-slave robotic system is tested using the phantom. The contact force of the guidewire tip according to the shape of the arteries is measured and reflected to the user through the master robot during the phantom experiment. This system can drastically reduce radiation exposure by replacing human effort by a robotic system for high radiation exposure procedures. Also, benefits of the proposed robot system are low cost by employing currently available devices and easy human interface.
当前的血管介入手术在操作过程中不可避免地会让操作者和患者暴露在大量X射线下。本研究的目的是提出一种新的导管驱动系统，该系统在减少X射线暴露和提供便捷用户界面方面协助操作者。为此，设计并测试了一种组装式四自由度主从系统以验证其效率。首先，分析当前的血管介入手术流程，以开发一种新的机器人手术流程，使我们能够使用市场上可买到的诸如导管和导丝等传统血管介入设备。从机器人与设备接触的一些部件被设计成可轻松从从机器人主体上组装和拆卸，以便进行消毒。主机器人设计紧凑，可进行插入和旋转运动，并且能够从导丝驱动模式切换到导管驱动模式，反之亦然。开发了一种类似人体动脉的模型，并使用该模型对主从机器人系统进行测试。在模型实验过程中，测量导丝尖端根据动脉形状产生的接触力，并通过主机器人反馈给用户。该系统可以通过用机器人系统替代高辐射暴露手术中的人工操作，大幅减少辐射暴露。此外，所提出的机器人系统的优点是采用现有设备成本低且用户界面简单。
