Wang Weizhao, Wu Zicong, Saija Carlo, Zeidan Aya, Xu Zhouyang, Pishkahi Aryana, Patterson Tiffany, Redwood Simon, Wang Shuangyi, Rhode Kawal, Housden Richard
School of Biomedical Engineering and Imaging Sciences, King's College London, WC2R 2LS London, U.K.
Cardiovascular Department, Guy's and St Thomas' NHS Foundation Trust, SE1 7EH London, U.K.
IEEE Robot Autom Lett. 2024 Jun;9(6):5254-5261. doi: 10.1109/LRA.2024.3388789.
Catheters have been widely used to deal with heart valve diseases. However, the diversity in handle structures and bending curvatures imposes significant complexities in safe delivery and positioning. In this work, we designed a module for single knob actuation assembled coaxially on the catheter handle, composed of a chuck for universal clamping of diameters from 15 to 45 mm and a position-adjustable shaft to accommodate various spacing between knobs. In addition, we proposed a two-curvature with pseudo joints (TC-PJ) model for bending control of bendable sections (BSs) in catheters. The verification was decoupled into two steps based on the other three deformation patterns. Firstly, comparing the two-curvature (TC) model with pseudo-rigid-body (PRB), constant curvature (CC), and Euler spiral (ES) models to simulate planar bending and elongation, the results showed a more accurate shape representation. Then, five distinct catheters were employed to test the clamping universality of the module and tip positioning precision of the TC-PJ model which took torsion and shear strain into consideration. The root-mean-square error (RMSE) and the standard deviation (SD) of tip position and direction were analysed. Results indicated the module's suitability for clamping these catheters, with the large guide sheath exhibiting minimal position RMSE (SD) of around 0.10 (0.051) mm and 0.049 (2.15) degrees, while the puncture catheter demonstrated the highest position and direction RMSE (SD) extending to about 1.16 (0.53) mm and 0.70 (31.33) degrees, primarily attributed to the coupling of two sequential bendable components. Overall, the proposed actuation module and kinematic model showed the ability of universal manipulation and an average tip position and direction RMSE of 0.65 mm and 0.23 degrees in free space.
导管已被广泛用于治疗心脏瓣膜疾病。然而，手柄结构和弯曲曲率的多样性给安全输送和定位带来了极大的复杂性。在这项工作中，我们设计了一个用于单旋钮驱动的模块，该模块同轴组装在导管手柄上，由一个用于通用夹持直径从15至45毫米物体的卡盘和一个位置可调节的轴组成，以适应旋钮之间的各种间距。此外，我们提出了一种用于导管中可弯曲段（BS）弯曲控制的带伪关节双曲率（TC-PJ）模型。验证基于其他三种变形模式分为两个步骤。首先，将双曲率（TC）模型与伪刚体（PRB）、恒定曲率（CC）和欧拉螺旋（ES）模型进行比较，以模拟平面弯曲和伸长，结果显示该模型具有更精确的形状表示。然后，使用五种不同的导管来测试该模块的夹持通用性以及考虑了扭转和剪切应变的TC-PJ模型的尖端定位精度。分析了尖端位置和方向的均方根误差（RMSE）和标准差（SD）。结果表明该模块适用于夹持这些导管，大引导鞘管的位置RMSE（SD）最小，约为0.10（0.051）毫米和0.049（2.15）度，而穿刺导管的位置和方向RMSE（SD）最高，分别约为1.16（0.53）毫米和0.70（31.33）度，这主要归因于两个连续可弯曲部件的耦合。总体而言，所提出的驱动模块和运动学模型显示出通用操纵能力，在自由空间中的平均尖端位置和方向RMSE分别为0.65毫米和0.23度。
