Operation and force analysis of the guide wire in a minimally invasive vascular interventional surgery robot system

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• 作者：Xue Yang (1) (3)
  Hongbo Wang (1) (2)
  Li Sun (2)
  Hongnian Yu (4)
  
  1. Parallel Robot and Mechatronic System Laboratory of Hebei Province ; Yanshan University ; Qinhuangdao ; 066004 ; China
  3. School of Mechanical Engineering ; University of Jinan ; Jinan ; 250022 ; China
  2. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education ; Yanshan University ; Qinhuangdao ; 066004 ; China
  4. Faculty of Science and Technology ; Bournemouth University ; Dorset ; BH12 5BB ; UK
  
• 关键词：minimally invasive ; wire feeder ; force analysis ; moment of inertia ; risk criterion
• 刊名：Chinese Journal of Mechanical Engineering
• 出版年：2015
• 出版时间：March 2015
• 年：2015
• 卷：28
• 期：2
• 页码：249-257
• 全文大小：941 KB
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• 刊物主题：Mechanical Engineering; Theoretical and Applied Mechanics; Manufacturing, Machines, Tools; Engineering Thermodynamics, Heat and Mass Transfer; Power Electronics, Electrical Machines and Networks; Electronics and Microelectronics, Instrumentation;
• 出版者：Springer Berlin Heidelberg
• ISSN：2192-8258

文摘

To develop a robot system for minimally invasive surgery is significant, however the existing minimally invasive surgery robots are not applicable in practical operations, due to their limited functioning and weaker perception. A novel wire feeder is proposed for minimally invasive vascular interventional surgery. It is used for assisting surgeons in delivering a guide wire, balloon and stenting into a specific lesion location. By contrasting those existing wire feeders, the motion methods for delivering and rotating the guide wire in blood vessel are described, and their mechanical realization is presented. A new resistant force detecting method is given in details. The change of the resistance force can help the operator feel the block or embolism existing in front of the guide wire. The driving torque for rotating the guide wire is developed at different positions. Using the CT reconstruction image and extracted vessel paths, the path equation of the blood vessel is obtained. Combining the shapes of the guide wire outside the blood vessel, the whole bending equation of the guide wire is obtained. That is a risk criterion in the delivering process. This process can make operations safer and man-machine interaction more reliable. A novel surgery robot for feeding guide wire is designed, and a risk criterion for the system is given.