导尿触觉显示器的设计

T. A. Kern, R. Werthschützky
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引用次数: 12

摘要

在此过程中,导管在患者体内的导航和定位主要依赖于实时x射线图像。尽管导管的3D可视化和远程导航方法正在出现并受到测试,但精确定位仅仅是执行外科医生高强度训练和高技能的结果。一种新的辅助系统旨在提供从导丝尖端测量的力数据,并将其作为反馈显示给正在进行手术的外科医生。它的目的是建立一个模拟器,给这种援助的感觉和触摸的第一印象。这个模拟器需要一个触觉显示器。本文介绍了该显示器的设计方法和实际结构。它必须能够对导管施加扭矩和力。提出了一般技术要求。展示了实现的原型本身,并介绍了所取得的经验。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design of a haptic display for catheterization
Navigating a catheter inside the patient and orientation during this procedure is mainly dependent on a live x-ray image. Although methods for 3D visualization and remote navigation of the catheter are emerging and subject to tests, still precise positioning is merely the result of intense training and high skills of the performing surgeon. A novel assistance-system intends to provide measured force data from the tip of a guide wire and display them as feedback to the performing surgeon. It is intended to build a simulator giving a first impression of the feel and touch of such an assistance. For this simulator a haptic display is needed. This article refers to design methods and the actual structure of this display. It has to be capable applying torque and force on the catheter. General technical requirements are presented. The realized prototype itself is shown and the experience made is presented.
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