脑神经外科微创手术辅助系统的设计
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摘要
近年来，介入手术(MIS)技术受到越来越多医生和患者的青睐，尤其是在脑神经外科手术中得到了广泛的应用。它在提高手术的质量、减少手术创伤、缩短病人的恢复周期、降低病人和医院的开支等方面具有显著的优点。然而，脑神经外科手术的实际操作中存在医生手动进行插管的精度较低、无法感知导管前端的受力情况、手术中所使用的X射线对医生健康的影响以及偏远地区患者就医问题等方面的问题。
基于上述原因，在本论文中的研究过程中研制了一种应用于脑神经外科辅助插管机械装置，并以该装置为基础，开展了有关脑神经外科手术辅助系统方面的研究。主要包括辅助插管机械装置的总体设计，多种控制方法的设计和应用于导管侧壁的微力传感器这几个方面的研究。
在机械装置的设计中，分别阐述各部分机械结构的设计，以及驱动步进电机的控制。为了更进一步优化系统的控制方法，在系统中引入手动控制及远程控制。手动控制主要通过向四个方向推动手柄，控制导管做前进、后退及正反两个方向旋转运动。而远程控制的实现主要利用了TCP／IP协议及Winsock技术。同时为了更好地监控导管的运动情况，在系统中引入视频监控功能。实验证明，所开发的辅助系统具有高精度、良好的稳定性且易于控制。
针对手术中医生缺少力觉信息的情况，在所开发系统的导管上装有侧壁触觉传感器，该传感器主要采用PVDF压电薄膜制成。通过实验证明，所安装的传感器能够检测到导管与血管壁之间的受力情况。
In recent years, MIS (minimum invasive surgery) has attracted most of surgeons and patients. It has been widely used in many kinds of surgeries especially in intravascular neurosurgery. It has more advantage on enhancing the quality of the surgery, reducing the wound of the patients, shorting the period of recovery and cutting down the spending of hospital and patients. However, there are several problems in intravascular neurosurgery: surgeon's poor precision, lack of tactile sense, surgeon's expose to X-ray and the region's limit.
To solve these problems, we develop a catheter operating mechanism in intravascular neurosurgery. At the base of mechanism, we make a deep and systematic research on assistant system which using on intravascular neurosurgery. The research includes three parts: the whole design of mechanism, control method and the micro sensor fixed on the side wall of catheter.
In design of the mechanism, the research instruction the design of the mechanism structure and the control method of step motor which drive the mechanism. In order to improving the control technique, we add the manual control and teleoperation. The manual control is realized by manipulating the joystick on four directions. The catheter can go forward and back or rotate. The teleoperation make use of the TCP/IP protocol and Winsock technology. Meanwhile we add the monitoring function to system. The experimental results show that the developed system has high precision, good stability and excellent operability.
Base on the reason of lacking force information, a novel catheter side wall tactile sensor is fabricated for this system. The tactile sensor utilizes PVDF as the sensitivity material. The experimental results show that the tactile sensor can detect the force between blood vessel and catheter at minimum invasive surgery.
基于上述原因，在本论文中的研究过程中研制了一种应用于脑神经外科辅助插管机械装置，并以该装置为基础，开展了有关脑神经外科手术辅助系统方面的研究。主要包括辅助插管机械装置的总体设计，多种控制方法的设计和应用于导管侧壁的微力传感器这几个方面的研究。
在机械装置的设计中，分别阐述各部分机械结构的设计，以及驱动步进电机的控制。为了更进一步优化系统的控制方法，在系统中引入手动控制及远程控制。手动控制主要通过向四个方向推动手柄，控制导管做前进、后退及正反两个方向旋转运动。而远程控制的实现主要利用了TCP／IP协议及Winsock技术。同时为了更好地监控导管的运动情况，在系统中引入视频监控功能。实验证明，所开发的辅助系统具有高精度、良好的稳定性且易于控制。
针对手术中医生缺少力觉信息的情况，在所开发系统的导管上装有侧壁触觉传感器，该传感器主要采用PVDF压电薄膜制成。通过实验证明，所安装的传感器能够检测到导管与血管壁之间的受力情况。
In recent years, MIS (minimum invasive surgery) has attracted most of surgeons and patients. It has been widely used in many kinds of surgeries especially in intravascular neurosurgery. It has more advantage on enhancing the quality of the surgery, reducing the wound of the patients, shorting the period of recovery and cutting down the spending of hospital and patients. However, there are several problems in intravascular neurosurgery: surgeon's poor precision, lack of tactile sense, surgeon's expose to X-ray and the region's limit.
To solve these problems, we develop a catheter operating mechanism in intravascular neurosurgery. At the base of mechanism, we make a deep and systematic research on assistant system which using on intravascular neurosurgery. The research includes three parts: the whole design of mechanism, control method and the micro sensor fixed on the side wall of catheter.
In design of the mechanism, the research instruction the design of the mechanism structure and the control method of step motor which drive the mechanism. In order to improving the control technique, we add the manual control and teleoperation. The manual control is realized by manipulating the joystick on four directions. The catheter can go forward and back or rotate. The teleoperation make use of the TCP/IP protocol and Winsock technology. Meanwhile we add the monitoring function to system. The experimental results show that the developed system has high precision, good stability and excellent operability.
Base on the reason of lacking force information, a novel catheter side wall tactile sensor is fabricated for this system. The tactile sensor utilizes PVDF as the sensitivity material. The experimental results show that the tactile sensor can detect the force between blood vessel and catheter at minimum invasive surgery.
引文
[1] Weiting Liu, A. Menciassi, S. Scapellato, P. Dario, Yuquan Chen, A Biomimetic Sensor for A Crawling Minirobot, Robotics and Automations Systems, 2006: 1-16P
[2] 刘文耀，杜君文，应济．MEMS的概念及其国内外的研究状况．挑战工程师．2001，2：8-10页
[3] Fumihito Arai, Mistsutaka Tanimoto, Toshio Fukuda, Koji Shimojima, Hideo Matsuura, and Makoto Negoro, Distributed Virtual Environment for Intravascular Tele-Surgery Using Multimedia Telecommunication, Proceedings of VRAIS'96, 1996: 79-85P
[4] Misutaka Tanimoto, Fumihito Arai, Toshio Fukuda, Hitoshi Iwata, Kouichi Itoigawa, Yasuhiro Gotoh, et. al, Micro Force Sensor for Intravascular Neurosurgery, Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, April, 1997: 1561-1566P
[5] Fumihito Arai, Ryo Fujimura, Toshio Fukuda, and Makoto Negoro, New Catheter Driving Method Using Linear Stepping Mechanism for Intravascular Neurosurgery. Proceedings of the 2002 IEEE International Conference on Robotics & Automation, U. S. A, 2002: 2944-2949P
[6] Jan Peirs, Joeri Clijnen, Dominiek Reynaerts, Hendrik Van Brussel, Paul Herijgers and Brecht Corteville, et. al., A micro optical force sensor for force feedback during minimally invasive robotic surgery, Sensors and Actuators, 2004.
[7] Shuxiang Guo, Toshio Fukuda, Kazuhiro Kosuge, Fumihito Arai, Keisuke Oguro, and Makoto Negoro, Micro Catheter System with Active Guide Wire, 1995 IEEE International Conference on Robotics and Automation, Vol. 1, 1995: 79-84P
[8] Shuxiang Guo, Toshio Fukuda, Kazuhiro Kosuge, Keisuke Oguro, and Makoto Negoro, Micro Active Catheter Using ICPF Actuator IEEE, 1995: 1312-1317P
[9] Shuxiang Guo, Haihong Zhang, and Seiji Hata, Complex Control of A Human Scale Tele-operating System for Cell Biology, Proceeding of the 4th World Congress on Intelligent Control and Automation, Shanghai China, June 2002, 71-75P
[10] Yan Bailly and Yacine Amirat, Modeling and Control of a Hybrid Continuum Active Catheter for Aortic Aneurysm Treatment, Proceeding of the 2005 IEEE International Conference on Robotics and automation, Barcelona, Spain, April, 2005: 924-929P
[11] Jun Keun Chang, Seok Chung, Yongku Lee, Junha Park, Seung-Ki Lee, Sang Silk Yang, et. al, Endovascular Micro Tools, The First Annual International IEEE-EMBS Special Topic Conference on Microtechnologies in Medicine & Biology, Lyon France, October 12-14, 2000: 119-126P
[12] 穆晓风，顾大强，陈柏，周银生．血管微型机器人无损伤体内驱动方法．浙江大学学报．2005，39(5)：618-622页
[13] Gyung Tak Sung and Inderbir S. Gill, Robotic Lapraoscopic Surgery: A Comparison of The da VINCI and ZEUS System, Adult Urology, 2001, 58(6): 893-898P
[14] Makoto Negoro, Ikuo Takahashi, Kiyou Nakabayashi, Kazuhiro Fukui, Kenichiro Sugita, Current Situation of Intravascular Neurosurgery and its Future
[15] 具典淑，周智，欧进萍．PVDF压电薄膜的应变传感特性研究．功能材料．2004，35(4)：450-453页
[16] 李林瑛．网络远程监控与控制系统的研究与应用．成都理工大学硕士学 位论文．2006：24-50页
[17] Iskandar Petra, David J. Holding, Keith J. Blow, Betty Tam, Xianghong Ma, The Design of A Flexible Digit Towards Wireless Tactile Sense Feedback, 2002
[18] 康新华．箱梁横移台车的机构设计．太原理工大学硕士学位论文．2006
[19] 谭应．六自由度检修机器人控制系统的研究．哈尔滨工程大学硕士学位论文．2006
[20] R. Sedaghati, J. Dargahi, H. Singh, Design and Modeling of An Endoscopic Piezoelectric Tactile Sensor, International Journal of Solids and Structures, 2005, 42: 5872-5886
[21] 侯敬巍．遥操作机器人虚拟现实系统的研究．吉林大学硕士学文论文．2005：13-16页
[22] 张峰．TCP／IP协议在测控网中的应用研究．国防科技大学硕士学位论文．2005：7-11页
[23] 张峰．TCP／IP协议在测控网中的应用研究．国防科技大学硕士学位论文．2005：7-11页
[24] J. Dargahi, A Piezoelectric Tactile Sensor with Three Sensing Elements for Robotic Endoscopic and Prosthetic Applications, Sensor and Actuators, 2000, 80: 23-30P
[25] 李康．介入式手术机器人结协结构设计及运动学仿真．哈尔滨工业大学硕士学位论文．2006：18-31页
[26] 武永康．DirectInput原理与API参考．第一版．北京：清华大学出版社，2001，7：3-23，39-45，249-311页
[27] 于涛．具有力反馈的遥操作机器人研究．吉林大学硕士学位论文．2005
[28] 钟戎．基于网络的远程数字监控系统的研究与实现．成都理工大学硕士学位论文．2006
[29] Minyan Shi, Theory and Application of Robotics in Teleoperation and Medical Systems, The Faculty of School of Engineering and Applied Sciences University of Virginia, August, 1999
[30] 刘国栋，连广宇，孙增析．空间遥操作机器人力反馈实验系统的研究与实现．机器人．2001，23(5)：411—415页
[31] 王丙力．脉象远程诊断系统中PVDF传感器研究．黑龙江大学硕士学位论文．2006：26-38页
[32] Carsten Preusche, Tobias Ortmaier, Gerd Hirzinger, Teleoperation Concepts in Minimal Invasive Surgery, Control Engineering Practice, 2002, 10: 245-1250P
[33] Carsten Preusche, Tobias Ortmaier, Gerd Hirzinger, Teleoperation Concepts in Minimal Invasive Surgery, Control Engineering Practice, 2002, 10: 1245-1250P
[34] Misutaka Tanimoto, Fumihito Arai, Toshio Fukuda, and Makoto Negoro, Force Display Method to Improve Safety in Teleoperation System for Intravascular Neurosurgery, Proceeding of the 1999 IEEE International Conference on Robotics and Automation, Detroit, Michigan, May, 1999: 1728-1733P
[35] 刘肃亮，周明全，韦智勇．基于VFW的视频应用程序开发．西北大学可视化研究所．2003
[36] 彭佩．基于VFW的视频媒体捕捉方法的实现．电脑知识与技术．2006：160-161页
[37] 赵东升．PVDF压电薄膜制作传感器的理论研究．物理测试．2005，23(2)：22-24页
[38] 尹云．基于触滑觉控制的智能假手关键问题研究．大连理工大学硕士学位论文．2004：13-31页
[39] 王国力，赵子婴，白金星．PVDF 压电薄膜脉搏传感器的研制．传感器技术学报．2004，12(4)：688-692页
[40] Du Liqun, Zhao Haibo, Fumihito Arai, Toshio Fukuda, Micro Touch Sensor Using Piezoelectric Thin Film for Minimal Access Surgery, Chinese Journal of Mechanical Engineering, 2001, 18(1): 87-91P
[41] 曾辉，余尚江，杨吉祥，丁世敬．PVDF压力传感器的动态灵敏度校准．传感器技术．2003，22(10)：39-41页
[42] 赵东升．PVDF压电传感器的设计及试验研究．江苏大学硕士学位论文．2005：12-21页
[43] 李江华，谢红，王晓丹．基于 VFW 实时视频捕获原理与实现．应用科技．2005，32(9)：31-33页
[44] 卢秋红，颜国正，丁国涛，颜德田，王慧．微型压电蠕动医用机器人系统模型．机器人．2004，28(1)：40-44 页
[45] 邵长锋．微创手术机器人控制程序设计与研究．武汉理工大学硕士学位论文．2005：10-22，50-66页
[46] Misutaka Tanimoto, Fumihito Arai, Toshio Fukuda, and Makoto Negoro, Augmentation of Safety in Teleoperation System for Intravascula Neurosurgery, Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leucen, Belgium, May 1998: 2890-2895P
[47] T. B. Sheridan, Teleoperation, Telerobotics and Telepresence: A Progress Report, Control Eng. Practice, 1995, 3(2): 205-214P
[48] 刘洁．介入式手术导管导向装置研究．哈尔滨工业大学硕士学位论文．2006
[49] Kuxang-Ho Lee and Seung-Ki Lee, Millimeter-sized Shape Memory Alloy Bending Actuator Using Buckling of the Beam. 1997 International Symposium on Micromechatronics and Human Science, 1997: 211-216P
[50] Yao Fu, Erol C Harvey, Muralidhar K Ghantasala and Geoff M Spinks, Design, Fabrication and Testing of Piezoelectric Polymer PVDF Microactuators, Smart Materials and Structure, 2006, 15: 141-146P
[2] 刘文耀，杜君文，应济．MEMS的概念及其国内外的研究状况．挑战工程师．2001，2：8-10页
[3] Fumihito Arai, Mistsutaka Tanimoto, Toshio Fukuda, Koji Shimojima, Hideo Matsuura, and Makoto Negoro, Distributed Virtual Environment for Intravascular Tele-Surgery Using Multimedia Telecommunication, Proceedings of VRAIS'96, 1996: 79-85P
[4] Misutaka Tanimoto, Fumihito Arai, Toshio Fukuda, Hitoshi Iwata, Kouichi Itoigawa, Yasuhiro Gotoh, et. al, Micro Force Sensor for Intravascular Neurosurgery, Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, April, 1997: 1561-1566P
[5] Fumihito Arai, Ryo Fujimura, Toshio Fukuda, and Makoto Negoro, New Catheter Driving Method Using Linear Stepping Mechanism for Intravascular Neurosurgery. Proceedings of the 2002 IEEE International Conference on Robotics & Automation, U. S. A, 2002: 2944-2949P
[6] Jan Peirs, Joeri Clijnen, Dominiek Reynaerts, Hendrik Van Brussel, Paul Herijgers and Brecht Corteville, et. al., A micro optical force sensor for force feedback during minimally invasive robotic surgery, Sensors and Actuators, 2004.
[7] Shuxiang Guo, Toshio Fukuda, Kazuhiro Kosuge, Fumihito Arai, Keisuke Oguro, and Makoto Negoro, Micro Catheter System with Active Guide Wire, 1995 IEEE International Conference on Robotics and Automation, Vol. 1, 1995: 79-84P
[8] Shuxiang Guo, Toshio Fukuda, Kazuhiro Kosuge, Keisuke Oguro, and Makoto Negoro, Micro Active Catheter Using ICPF Actuator IEEE, 1995: 1312-1317P
[9] Shuxiang Guo, Haihong Zhang, and Seiji Hata, Complex Control of A Human Scale Tele-operating System for Cell Biology, Proceeding of the 4th World Congress on Intelligent Control and Automation, Shanghai China, June 2002, 71-75P
[10] Yan Bailly and Yacine Amirat, Modeling and Control of a Hybrid Continuum Active Catheter for Aortic Aneurysm Treatment, Proceeding of the 2005 IEEE International Conference on Robotics and automation, Barcelona, Spain, April, 2005: 924-929P
[11] Jun Keun Chang, Seok Chung, Yongku Lee, Junha Park, Seung-Ki Lee, Sang Silk Yang, et. al, Endovascular Micro Tools, The First Annual International IEEE-EMBS Special Topic Conference on Microtechnologies in Medicine & Biology, Lyon France, October 12-14, 2000: 119-126P
[12] 穆晓风，顾大强，陈柏，周银生．血管微型机器人无损伤体内驱动方法．浙江大学学报．2005，39(5)：618-622页
[13] Gyung Tak Sung and Inderbir S. Gill, Robotic Lapraoscopic Surgery: A Comparison of The da VINCI and ZEUS System, Adult Urology, 2001, 58(6): 893-898P
[14] Makoto Negoro, Ikuo Takahashi, Kiyou Nakabayashi, Kazuhiro Fukui, Kenichiro Sugita, Current Situation of Intravascular Neurosurgery and its Future
[15] 具典淑，周智，欧进萍．PVDF压电薄膜的应变传感特性研究．功能材料．2004，35(4)：450-453页
[16] 李林瑛．网络远程监控与控制系统的研究与应用．成都理工大学硕士学 位论文．2006：24-50页
[17] Iskandar Petra, David J. Holding, Keith J. Blow, Betty Tam, Xianghong Ma, The Design of A Flexible Digit Towards Wireless Tactile Sense Feedback, 2002
[18] 康新华．箱梁横移台车的机构设计．太原理工大学硕士学位论文．2006
[19] 谭应．六自由度检修机器人控制系统的研究．哈尔滨工程大学硕士学位论文．2006
[20] R. Sedaghati, J. Dargahi, H. Singh, Design and Modeling of An Endoscopic Piezoelectric Tactile Sensor, International Journal of Solids and Structures, 2005, 42: 5872-5886
[21] 侯敬巍．遥操作机器人虚拟现实系统的研究．吉林大学硕士学文论文．2005：13-16页
[22] 张峰．TCP／IP协议在测控网中的应用研究．国防科技大学硕士学位论文．2005：7-11页
[23] 张峰．TCP／IP协议在测控网中的应用研究．国防科技大学硕士学位论文．2005：7-11页
[24] J. Dargahi, A Piezoelectric Tactile Sensor with Three Sensing Elements for Robotic Endoscopic and Prosthetic Applications, Sensor and Actuators, 2000, 80: 23-30P
[25] 李康．介入式手术机器人结协结构设计及运动学仿真．哈尔滨工业大学硕士学位论文．2006：18-31页
[26] 武永康．DirectInput原理与API参考．第一版．北京：清华大学出版社，2001，7：3-23，39-45，249-311页
[27] 于涛．具有力反馈的遥操作机器人研究．吉林大学硕士学位论文．2005
[28] 钟戎．基于网络的远程数字监控系统的研究与实现．成都理工大学硕士学位论文．2006
[29] Minyan Shi, Theory and Application of Robotics in Teleoperation and Medical Systems, The Faculty of School of Engineering and Applied Sciences University of Virginia, August, 1999
[30] 刘国栋，连广宇，孙增析．空间遥操作机器人力反馈实验系统的研究与实现．机器人．2001，23(5)：411—415页
[31] 王丙力．脉象远程诊断系统中PVDF传感器研究．黑龙江大学硕士学位论文．2006：26-38页
[32] Carsten Preusche, Tobias Ortmaier, Gerd Hirzinger, Teleoperation Concepts in Minimal Invasive Surgery, Control Engineering Practice, 2002, 10: 245-1250P
[33] Carsten Preusche, Tobias Ortmaier, Gerd Hirzinger, Teleoperation Concepts in Minimal Invasive Surgery, Control Engineering Practice, 2002, 10: 1245-1250P
[34] Misutaka Tanimoto, Fumihito Arai, Toshio Fukuda, and Makoto Negoro, Force Display Method to Improve Safety in Teleoperation System for Intravascular Neurosurgery, Proceeding of the 1999 IEEE International Conference on Robotics and Automation, Detroit, Michigan, May, 1999: 1728-1733P
[35] 刘肃亮，周明全，韦智勇．基于VFW的视频应用程序开发．西北大学可视化研究所．2003
[36] 彭佩．基于VFW的视频媒体捕捉方法的实现．电脑知识与技术．2006：160-161页
[37] 赵东升．PVDF压电薄膜制作传感器的理论研究．物理测试．2005，23(2)：22-24页
[38] 尹云．基于触滑觉控制的智能假手关键问题研究．大连理工大学硕士学位论文．2004：13-31页
[39] 王国力，赵子婴，白金星．PVDF 压电薄膜脉搏传感器的研制．传感器技术学报．2004，12(4)：688-692页
[40] Du Liqun, Zhao Haibo, Fumihito Arai, Toshio Fukuda, Micro Touch Sensor Using Piezoelectric Thin Film for Minimal Access Surgery, Chinese Journal of Mechanical Engineering, 2001, 18(1): 87-91P
[41] 曾辉，余尚江，杨吉祥，丁世敬．PVDF压力传感器的动态灵敏度校准．传感器技术．2003，22(10)：39-41页
[42] 赵东升．PVDF压电传感器的设计及试验研究．江苏大学硕士学位论文．2005：12-21页
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