改进版导丝机器人可在模拟血管中精准导航
Evaluating the Navigation Capabilities of a Modified COAST Guidewire Robot in an Anatomical Phantom Model
- 采用双管结构简化设计，实现弯折、跟随与前馈等多种运动
- 在搏动血流模拟环境下成功完成复杂血管路径导航
- 适合医疗机器人领域研究者关注导丝自动化控制
为解决血管内介入手术中导丝手动导航带来的问题，医学机器人研究聚焦于可遥控导丝的设计，其尖端可主动转向，提升操作灵活性。COAXIALLY ALIGNED STEERABLE (COAST) 导丝机器人具备多种运动能力，包括不同长度的弯曲、跟随-领导及前馈运动。此前研究已探索其多种设计，并建立建模、控制与传感策略。本研究评估了改进版 COAST 导丝机器人的性能，该版本为简化型，由两根管组成而非三根，在含搏动流的解剖学仿生模型中开展导航实验。结果表明，该改进系统可在迂曲血管模型中有效导航。
原文摘要 · Abstract (English)
To address the issues that arise due to the manual navigation of guidewires in endovascular interventions, research in medical robotics has taken a strong interest in developing robotically steerable guidewires, which offer the possibility of enhanced maneuverability and navigation, as the tip of the guidewire can be actively steered. The COaxially Aligned STeerable (COAST) guidewire robot has the ability to generate a wide variety of motions including bending motion with different bending lengths, follow-the-leader motion, and feedforward motion. In our past studies, we have explored different designs of the COAST guidewire robot and developed modeling, control, and sensing strategies for the COAST guidewire robot. In this study, the performance of a modified COAST guidewire robot is evaluated by conducting navigation experiments in an anatomical phantom model with pulsatile flow. The modified COAST guidewire robot is a simplified version of the COAST guidewire robot and consists of two tubes as opposed to three tubes. Through this study, we demonstrate the effectiveness of the modified COAST guidewire robot in navigating the tortuous phantom vasculature.
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