用磁力驱动磁珠链导管，实现精准心脏消融治疗
Magnetic Ball Chain Robots for Cardiac Arrhythmia Treatment
- 磁珠链导管+旋转永磁体驱动，减小设备体积
- 119mm磁体可产生临床所需作用力，定位准确
- 机器人操控比人工更平滑，适合手术室集成
本文提出一种用于心脏消融治疗的新型磁导航系统。该系统由两部分构成：一种由球形永磁体串联而成的磁性消融导管，以及一套由安装在推车上的两个永磁体纯旋转组成的驱动装置。导管设计具有高磁含量，旨在缩小驱动系统的尺寸，便于与临床工作流程集成。本文提出了导管的准静态模型，设计了驱动单元及其控制方式。实验验证表明，使用直径119mm的旋转磁体可到达心脏消融目标，并产生临床相关的作用力。对比操纵杆控制与手动控制，任务完成时间相近，但机器人系统实现更平稳的导管导航。同时，该磁珠链导管可对心肌组织进行消融，形成的病灶与现有临床导管相当。
原文摘要 · Abstract (English)
This paper introduces a novel magnetic navigation system for cardiac ablation. The system is formed from two key elements: a magnetic ablation catheter consisting of a chain of spherical permanent magnets; and an actuation system comprised of two cart-mounted permanent magnets undergoing pure rotation. The catheter design enables a large magnetic content with the goal of minimizing the footprint of the actuation system for easier integration with the clinical workflow. We present a quasi-static model of the catheter, the design of the actuation units, and their control modalities. Experimental validation shows that we can use small rotating magnets (119mm diameter) to reach cardiac ablation targets while generating clinically-relevant forces. Catheter control using a joystick is compared with manual catheter control. blue While total task completion time is similar, smoother navigation is observed using the proposed robotic system. We also demonstrate that the ball chain can ablate heart tissue and generate lesions comparable to the current clinical ablation catheters.
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