Nayar Namrata U, Desai Jaydev P
Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.
IEEE Robot Autom Lett. 2024 Sep;9(9):7691-7698. doi: 10.1109/lra.2024.3426384. Epub 2024 Jul 10.
Transcatheter mitral valve repair (TMVr), a minimally invasive approach, is becoming increasingly popular for treating mitral regurgitation (MR) since nearly half of the MR patients are non-surgical candidates. However, current TMVr devices are operated manually, increasing radiation exposure to the clinical staff and making telesurgery infeasible. A robotically steerable transcatheter delivery system can alleviate these issues while also enhancing consistency, improving precision, and mitigating human fatigue during the procedure. Moreover, precise manipulation of a surgical robotic system requires effective system modeling. Therefore, in this work, we model a full-scale robotically steerable transcatheter delivery system, accounting for the hysteresis, friction, tendon elongation, and catheter configuration. We also account for the coupling between the joints of the robotic steerable end and the effect of the catheter configuration on the joints. Experiments were conducted in free air to validate the proposed model while subjecting the robotic transcatheter delivery system to similar tortuosity as encountered during a TMVr procedure.
经导管二尖瓣修复术（TMVr）是一种微创方法，由于近一半的二尖瓣反流（MR）患者不适合进行手术，该方法在治疗二尖瓣反流方面越来越受欢迎。然而，目前的TMVr设备是手动操作的，这增加了临床工作人员的辐射暴露，并使远程手术变得不可行。一种可机器人操控的经导管输送系统可以缓解这些问题，同时还能提高一致性、改善精度并减轻手术过程中的人体疲劳。此外，精确操作手术机器人系统需要有效的系统建模。因此，在这项工作中，我们对一个全尺寸的可机器人操控的经导管输送系统进行建模，考虑了滞后、摩擦、肌腱伸长和导管配置等因素。我们还考虑了机器人可操控末端关节之间的耦合以及导管配置对关节的影响。在自由空气中进行了实验，以验证所提出的模型，同时使机器人经导管输送系统承受与TMVr手术过程中遇到的类似弯曲度。
