开发一种能够高速力反馈的导管插入术遥控系统。

Development of a remote-control system for catheterization capable of high-speed force feedback.

机构信息

Department of Bio-Science and Engineering, Shibaura Institute of Technology, 307 Fukasaku, Minuma-Ku, Saitama, 337-8570, Japan.

Department of Advanced Machinery Engineering, Tokyo Denki University, Tokyo, Japan.

出版信息

Int J Comput Assist Radiol Surg. 2023 Apr;18(4):763-773. doi: 10.1007/s11548-022-02815-9. Epub 2023 Jan 23.

DOI:10.1007/s11548-022-02815-9

PMID:36689147

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC10039843/

Abstract

PURPOSE

There is a growing interest in minimally invasive surgery as interventional radiology (IVR), which decreases the burden on a patient. However, occupational exposure is a problem because the treatment is performed using X-ray fluoroscopic images. This problem can be solved by the development of a teleoperation system, but rapid force presentation is important to perform safe surgery. The purpose of this study is to develop a new teleoperation system that can be controlled at a high speed and can provide feedback force sensation within 20 ms delay.

METHODS

A master-slave-type remote-control system for catheterization was developed. A compact and high-speed force feedback system is realized using a novel electro-attractive material (EAM) device by which the resistance force is generated by the magnitude of the voltage applied. The linear and rotational movement of master is transferred to the slave device by UDP communication with the LAN cable, and the same movement is performed by two motors. The collision force of catheter or guidewire, detected by the sensor inside the slave device, is also transmitted to the master device. Two voltage-based methods for EAM: the ON/OFF and linear control methods, were implemented.

RESULTS

After the collision force is detected by the slave sensor, the voltage is applied to the EAM in the master device for an average of 10.33 ms and 15.64 ms by the ON/OFF and linear control methods, respectively. These delays are less than required 20 ms. The movement of the master was stopped by the resistance force of EAM, and that of the slave was also stopped accordingly.

CONCLUSION

A master-slave-type remote-control system for catheterization that is capable of high-speed force feedback was developed. With a low delay, the developed system achieved the requirements of 20 ms that was aimed for this study. Therefore, this system may facilitate the realization of IVR surgery that is safe for both doctors and patients.

摘要

目的

介入放射学（IVR）作为一种微创手术越来越受到关注，它减轻了患者的负担。然而，由于治疗是使用 X 射线透视图像进行的，因此存在职业暴露问题。这个问题可以通过开发远程操作系统来解决，但快速呈现力对于进行安全手术很重要。本研究的目的是开发一种新的远程操作系统，该系统可以高速控制，并在 20ms 的延迟内提供反馈力感觉。

方法

开发了一种用于导管插入术的主从式远程控制系统。通过使用新型电吸引力材料（EAM）装置实现了紧凑且高速的力反馈系统，通过施加电压的大小产生阻力。通过使用局域网电缆的 UDP 通信，将主设备的线性和旋转运动传输到从设备，并且通过两个电动机执行相同的运动。从设备内部的传感器检测到导管或导丝的碰撞力，也会传输到主设备。实施了两种基于电压的 EAM 方法：ON/OFF 和线性控制方法。