Lu Qing, Sun Zhijun, Zhang Jialiang, Zhang Jiacheng, Zheng Juju, Qian Feng
State Key Lab of Mechanics and Control of Mechanical Structures, School of Aeronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
Micromachines (Basel). 2022 Mar 4;13(3):410. doi: 10.3390/mi13030410.
Cardiovascular diseases (CVDs) are the deadliest diseases worldwide. Master-slave robotic systems have been widely used in vascular interventional surgery with the benefit of high safety, efficient operation, and procedural facilitation. This paper introduces a remote-controlled vascular interventional robot (RVIR) that aims to enable surgeons to perform complex vascular interventions reliably and accurately under a magnetic resonance imaging (MRI) environment. The slave robot includes a guidewire manipulator (GM) and catheter manipulator (CM) that are mainly composed of a hollow driving mechanism and a linear motion platform. The hollow driving mechanism is based on a traveling wave-type hollow ultrasonic motor (HUM) which has high positional precision, fast response, and magnetic interference resistance and realizes the cooperation of the guidewire and catheter by omitting the redundant transmission mechanism and maintaining good coaxiality. The HUM stator, the core part of the RVIR, is optimized by an adaptive genetic algorithm for better quality and greater amplitude of traveling waves, which are beneficial to the drive efficiency and precision. The robot system features great cooperating performance, small hysteresis, and high kinematic accuracy and has been experimentally verified for its capability to precisely manipulate the guidewire and catheter.
心血管疾病（CVDs）是全球最致命的疾病。主从机器人系统已广泛应用于血管介入手术，具有高安全性、高效操作和便于手术的优点。本文介绍了一种遥控血管介入机器人（RVIR），其目的是使外科医生能够在磁共振成像（MRI）环境下可靠且准确地进行复杂的血管介入手术。从机器人包括导丝操纵器（GM）和导管操纵器（CM），它们主要由中空驱动机构和直线运动平台组成。中空驱动机构基于行波型中空超声电机（HUM），该电机具有高位置精度、快速响应和抗磁干扰能力，通过省略冗余传动机构并保持良好的同轴度来实现导丝和导管的协同操作。RVIR的核心部件HUM定子通过自适应遗传算法进行优化，以获得更好的质量和更大幅度的行波，这有利于提高驱动效率和精度。该机器人系统具有良好的协同性能、小滞后和高运动精度，并且已经通过实验验证了其精确操纵导丝和导管的能力。
Zotero 插件
