A Novel Dexterous Steerable Catheter Robot System: Design, Modeling and Evaluation

IF 4.6 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2025-07-14 DOI:10.1109/LRA.2025.3588417

Yonggan Yan;Shuxiang Guo;Haikuo Shen;Bin Wang;Mingchao Ding

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引用次数: 0

Abstract

Vascular interventional surgery (VIS) robots still face limitations in enhancing treatment quality. The primary challenges come from the accurate morphology control and miniaturization of the distal instruments. To address these issues, a novel 4 degrees of freedom steerable catheter robotic system is developed. The catheter is composed of two segments continua connected in series. By actuating the two segments independently, the distal end of the catheter has both position and wide-range orientation control capabilities. To accurately estimate the continuum deformation, an improved tendon tension propagation model considering the path friction is proposed. Then a continuum morphology estimation model is derived cell by cell based on the chain beam assumption. Based on the estimation model, the kinetostatic model is established and a model-based nonlinear numerical solution method is developed to obtain the inverse solution of the actuation space. Experimental results demonstrate that the improved tendon tension propagation model reduces the control errors in position and orientation by 45.6% and 57.6% respectively compared with the simplified model. Additionally, the dexterity and operability of the robotic system are demonstrated by 4 navigation experiments.

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一种新型灵巧可操纵导管机器人系统：设计、建模与评价

血管介入手术（VIS）机器人在提高治疗质量方面仍然存在局限性。主要的挑战来自于远端器械的精确形态学控制和小型化。为了解决这些问题，开发了一种新型的4自由度可操纵导管机器人系统。导管由连续串联的两段组成。通过独立驱动两段，导管远端具有位置和大范围定向控制能力。为了准确估计连续变形，提出了考虑路径摩擦的改进肌腱张力传播模型。在此基础上，基于链梁假设，推导了连续体形态估计模型。在估计模型的基础上，建立了动静力模型，提出了基于模型的非线性数值求解方法，得到了驱动空间的逆解。实验结果表明，与简化模型相比，改进的肌腱张力传播模型在位置和方向上的控制误差分别降低了45.6%和57.6%。通过4个导航实验，验证了机器人系统的灵巧性和可操作性。

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.