A Novel Guide Wire Rotation and Delivery Structure for Interventional Surgical Robot

2022 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2022-08-07 DOI:10.1109/ICMA54519.2022.9856010

Mengqi Cheng, Nan Xiao, H. Yuan, Haoyang Liu, Pinzheng Ni

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Abstract

In recent years, with the development of vascular interventional surgery robots, the use of surgical robots for angiography surgery has begun to be accepted by more and more doctors. With this tool, the doctor can operate the catheter and guide wire several meters away from the patient to complete the operation, which greatly reduces the radiation received by the radiologist and protects the doctor’s health. However, the traditional interventional surgery robot still has the following problems. Because the guide wire surface is too smooth, when encountering resistance, the guide wire is easy to slide, resulting in the reduction of the accuracy of guide wire rotation and delivery. The guide wire rotation and delivery mechanism of traditional interventional surgery robots are connected with the robot body, and the sterile environment is not completely realized. In this study, a new guide wire rotation and delivery transmission device is proposed, which can improve the accuracy of guide wire rotation and delivery without damaging the guide wire. Through experiments, we have verified that the guide wire rotation and delivery device meets the functional integrity and the accuracy of the guide wire delivery function. The experimental results show that the accuracy of the guide wire rotation and delivery transmission device can meet the requirements of vascular interventional surgery.

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一种新型介入手术机器人导丝旋转及输送结构

近年来，随着血管介入手术机器人的发展，利用手术机器人进行血管造影手术已经开始被越来越多的医生所接受。有了这个工具，医生可以在离病人几米远的地方操作导管和导丝来完成手术，大大减少了放射科医生接受的辐射，保护了医生的健康。然而，传统的介入手术机器人仍然存在以下问题。由于导丝表面过于光滑，当遇到阻力时，导丝容易滑动，导致导丝旋转和输送精度降低。传统介入手术机器人的导丝旋转和输送机构与机器人本体相连，没有完全实现无菌环境。本文提出了一种新型导丝旋转输送传动装置，在不损坏导丝的前提下，提高了导丝旋转输送精度。通过实验，我们验证了导丝旋转输送装置满足导丝输送功能的功能完整性和准确性。实验结果表明，导丝旋转和输送传输装置的精度能够满足血管介入手术的要求。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2022 IEEE International Conference on Mechatronics and Automation (ICMA)

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