IEEE Trans Biomed Circuits Syst. 2018 Aug;12(4):824-838. doi: 10.1109/TBCAS.2018.2825359. Epub 2018 May 15.
Despite the success and prospects of the robotic catheter system for the cardiovascular access, loss of vision, and haptics have limited its global adoption. A direct implication is the great difficulty posed when trying to eliminate the backlash in catheters during vascular cannulations. As a result, physicians and patients end up been exposed to high radiation for a long period of time. Existing control systems proposed for such interventional robots have not fully consider the hysteretic (backlash) behavior. In this study, a novel robotic catheter system is designed for accessing the human cardiac area through the radial vasculature, while single factor descriptive analysis is employed to characterize the backlash behavior during axial motions of the interventional robot. Based on the descriptive analysis, an adaptive system is proposed for the backlash compensation during the cardiovascular access. The adaptive system consists of a neuro-fuzzy module that predicts a backlash gap based on bounded motion signals, and contact force modulated from a modified error-based force control model. The proposed system is implemented in MATLAB and visual C++. Finally, an in vitro experiment with a human tubular model, shows that the proposed adaptive compensation system can minimize the backlash occurrence during cardiovascular access.
尽管机器人导管系统在心血管介入方面取得了成功并具有广阔的应用前景，但由于其存在视觉和触觉的局限性，限制了其在全球范围内的应用。这直接导致在进行血管插管时，消除导管的反冲力变得非常困难。结果，医生和患者不得不长时间暴露在高强度的辐射下。现有的用于此类介入机器人的控制系统并没有充分考虑迟滞（反冲）行为。在这项研究中，设计了一种新型的机器人导管系统，用于通过桡动脉血管进入人体心脏区域，同时采用单因素描述性分析方法来描述介入机器人轴向运动过程中的反冲行为。基于描述性分析，提出了一种用于心血管介入过程中的反冲补偿的自适应系统。该自适应系统由一个神经模糊模块组成，该模块根据受约束的运动信号预测反冲间隙，并根据基于误差的力控制模型的修正来调制接触力。该系统在 MATLAB 和 visual C++中实现。最后，通过人体管状模型的体外实验表明，所提出的自适应补偿系统可以最大限度地减少心血管介入过程中的反冲发生。
