软机器人平台精准输送锚状线圈，助力心脏微创手术
Soft Robotic Delivery of Coiled Anchors for Cardiac Interventions
- 采用被动顺应性驱动器实现高力输出与柔顺操作
- 在动态模拟心脏中实现毫米级精度的多锚点输送
- 解决导管系统操作灵活性与力控不足的痛点
经导管心脏介入治疗已成为高危患者无需开胸手术的可行选择。然而，现有导管平台在灵活性、施力能力和顺应性方面仍显不足，难以完成复杂的心内操作。植入锚状线圈可固定和部署多种设备于跳动的心脏中，是显著简化微创心内手术的典型任务。本文提出一种可输送锚状线圈的机器人平台，建立其运动-静力学模型，并验证了低位置误差。在动态体外模拟器上，该平台实现了毫米级精度的多锚点输送，充分发挥了执行器的被动顺应性与高输出力优势。
原文摘要 · Abstract (English)
Trans-catheter cardiac intervention has become an increasingly available option for high-risk patients without the complications of open heart surgery. However, current catheterbased platforms suffer from a lack of dexterity, force application, and compliance required to perform complex intracardiac procedures. An exemplary task that would significantly ease minimally invasive intracardiac procedures is the implantation of anchor coils, which can be used to fix and implant various devices in the beating heart. We introduce a robotic platform capable of delivering anchor coils. We develop a kineto-statics model of the robotic platform and demonstrate low positional error. We leverage the passive compliance and high force output of the actuator in a multi-anchor delivery procedure against a motile in-vitro simulator with millimeter level accuracy.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。