手持式机器人导丝驱动装置，可精准控制导丝前进、旋转与弯曲。
Development of a Handheld Actuation Mechanism for a Tendon-driven Robotically Steered Guidewire
- 采用紧凑卷绕机构集成于手持设备，支持电机驱动与手动操作双模式。
- 通过操纵杆与瞬时开关控制1.5米长导丝的进给、旋转和弯曲动作。
- 在解剖学仿真人主动脉模型中验证导航能力，适合介入手术辅助使用。
血管内介入治疗始于经验丰富的医生手动将一根细长导丝（称为导丝）送至血管内的目标位置。由于血管迂曲及导丝尖端操控性差等因素，手动导航可能困难，导致血管损伤、穿孔、夹层或闭塞，以及术后血栓等并发症。本文详细描述了一种用于肌腱驱动型机器人导丝的便携式驱动机构的开发，该机构利用前述卷绕机制。将紧凑的卷绕结构整合到手持设备中，使临床医生能够根据需要同时使用电动导丝转向和手动旋转与移动。所提出的设备设计使得医生在手持设备时，可通过手柄上的操纵杆和瞬时开关，对长达1.5米的可机器人控制导丝执行推进、旋转和弯曲动作。此外，该设备已在解剖学准确的仿真人主动脉模型中完成了导航演示。
原文摘要 · Abstract (English)
An endovascular intervention begins with a skilled clinician manually navigating a long, slender wire, called a guidewire, to the target location within the vasculature. Due to factors, such as vessel tortuosity and lack of steerability at the guidewire tip, manual navigation of a guidewire could be challenging, potentially resulting in vessel damage, perforation, dissection, and occlusion, as well as postsurgical complications, such as thrombosis. This work details the development of a handheld actuation mechanism for tendon-driven robotic guidewires by utilizing the aforementioned spooling mechanism. Incorporating the compact spooling mechanism into a handheld device enables clinicians to leverage both motorized guidewire steering and manual rotation and translation, if desired. The proposed device is designed such that, while holding the device, the clinician can execute feeding, rotation, and bending motions for up to 1.5 m of the robotically steerable guidewire using a joystick and momentary switch on the handle. Furthermore, the proposed device is demonstrated through navigation in an anatomically accurate phantom aorta model.
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