Study on a guidewire and catheter collaborative operating system

• Material Type: 博士論文
• Title: Study on a guidewire and catheter collaborative operating system
• Author/Editor: 金, 暁亮
• Author Heading: 金, 暁亮
• Publication Date: 2022-03-24
• Publication Date (W3CDTF): 2022-03-24
• Alternative Title: ガイドワイヤーとカテーテルの協調的オペレーティングシステムに関する研究
• Degree grantor/type: 香川大学
• Date Granted: 2022-03-24
• Date Granted (W3CDTF): 2022-03-24
• Dissertation Number: 甲第165号
• Degree Type: 博士（工学）
• Conferring No. (Dissertation): 甲第165号
• Text Language Code: eng
• Target Audience: 一般
• Note (General): The challenge of vascular interventional surgery is that doctors require to be exposed to the X‐ray radiation for a long time, operating guidewires and catheters to perform the treatment. To reduce the fatigue of doctors, it is of great significance to develop a tactile sensing robot‐assisted system for vascular interventional surgery (VIS). The tactile sensing robot‐assisted system for VIS is an emerging surgical technique, which can improve the comfort, precision, and stability of the surgery, eliminate the physiological tremor, and reduce the X‐ray radiation of the doctors compared with the traditional manual operation.; By summarizing the current researches, most of robot‐assisted systems lack the functions of haptic force feedback and collaborative operating of guidewires and catheters, which cannot guarantee the safety, the external disturbance forces easily affect the accuracy of the haptic force feedback and the judgment of doctors, and the blood vessel is easy to be punctured due to the doctor’s misoperation and the medical accident.; In general, the purpose of this thesis is to solve the challenge of how to guarantee the safety of the robot‐assist system during the operation. And the approaches of this thesis are developing a tactile sensing robot‐assisted system with the function of haptic force feedback, analyzing the total force and eliminating the disturbance force between the catheter and the blood vessel, and proposing active enhancing safety methods to avoid the danger caused by the doctor's misoperation and the medical accident.; The main topics of this thesis include (1) Development and evaluation of the novel robot‐assisted system with haptic force feedback for VIS. (2) Total force analysis and safety enhancing for operating both guidewire and catheter in endovascular surgery. (3) Study on the active enhancing safety method of the robot‐assisted system in endovascular surgery.; To verify the developed tactile sensing robot‐assisted system, a series of experiments in “Vitro” were carried out. Experimental results obtained in Chapter 3 indicated that the developed robot‐assisted system has good tracking performance, the maximum error of the rotation motion was less than 2 degrees, and the maximum error of the linear motion was less than 2 mm. Besides, under the guidance of the collaborative operation and the haptic force feedback, the safety performance of the operation with haptic force feedback was significantly higher than that of without haptic force feedback. The safety increased by 4.32% on average after five participants completed the experiment. And experimental results obtained in Chapter 6 indicated the accuracy of the haptic force feedback can be enhanced by eliminating the disturbance force, and the collision force at the tip of the catheter can be confirmed by using the self‐developed force sensor, which is helpful for the doctors to make the accurate judgment and improve the safety of the robot‐assisted system. The proposed active enhancing safety methods can reduce the risk in time. The collision force at the tip of the catheter was reduced by 0.104 N, and the average and the maximum total force between the catheter and the blood vessel was reduced by 0.1 N and 0.054 N, respectively, under the condition of the active enhancing safety method. Besides, the strong sense of the tactile presence of the doctor was generated by the developed master manipulator when the total force from the slave side was reaches the level B listed in Table 5‐1 (The classification of the force levels during the operation).; The contributions of this thesis can be briefly summarized as: A novel tactile sensing robot‐assisted system was proposed to assist the doctors to perform the operation. The developed slave manipulator can operate the guidewire and the catheter, it can navigate the target point accurately and smoothly, just like the doctor’s hand. A master manipulator based on the magnetorheological fluids was used to achieve the haptic force feedback by generating the haptic force acting on doctors’ hand, it can guarantee the safety performance of the robot‐assisted system. The forces on the guide wire and the catheter were analyzed, the disturbance force was eliminated the contact force was used as the reference force to realize the haptic force feedback of the robot‐assisted system, and the accuracy of the haptic force feedback was improved. A force sensor based on pressure sensitive rubbers was used to confirm and detected the collision force between the tip of the catheter and the blood vessel. A preliminary method was proposed to assist the deflection of the catheter tip to pass through the curved blood vessel with a relatively small collision force. An active enhancing safety method was proposed to avoid the danger caused by the doctor’s misoperation and the medical accident during the operation. Finally, a series of experiments in “Vitro” were carried out, and experimental results were analyzed, and discussed.; The significance of this thesis is that the tactile sensing robot‐assisted system can guarantee the safety of the operation, prevent the doctor from being exposed to x‐ray radiation, and reduce the burden on the doctor.
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• Date Accepted (W3CDTF): 2022-06-05T18:01:14+09:00
• Date Created (W3CDTF): 2022-05-02
• Format (IMT): PDF
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• Periodical Title (URI): http://id.nii.ac.jp/1731/00009549/
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