脑外科手术辅助用智能导管及操作系统研究
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摘要
目前脑血管外科微创手术由于缺乏必要的教学手段,该技术非常难以掌握,世界上只有少数医院的少数医生能进行该手术。随着科技的发展,机械、集成电子技术飞速猛进,应用当今的技术手段解决微创介入手术存在的问题已经成为当前科技人员的研究热点,致力于该方面的研究不仅在于提高手术的质量,而且在于提高手术的安全性、手术的精度以及手术的效率等方面。
本文以血管介入手术作为应用背景,针对脑外科手术辅助用智能导管以及导管操作系统展开研究,该系统一旦研究成功可实现降低操作失误率,提高手术质量的应用目标。本文总结了该领域目前所遇到的若干瓶颈,针对医生操作机器人进行血管介入手术时,无法感觉到血管和导管之间的触觉力,主动导管在血管分叉时是否能准确地进入目标血管分支,导管触觉力信息的反馈,以及导管输送机械装置的可靠性等诸多方面问题都进行了深入分析和研究,具体内容主要包括以下几个方面：
结合在心血管中的应用,本文选用动态性能良好的压电材料聚偏二氟乙烯(PVDF)作为触觉力传感器的敏感材料,分析了该种材料的压电特性,设计了相应的电荷放大电路,对其进行电学和力学模型的建立,最终建立了触觉力传感器的数学模型。本文还对PVDF传感器阵列进行了有限元分析,通过聚类分析并应用遗传算法对PVDF触觉传感器阵列进行了最优方法设计,设计了3×3式PVDF传感器阵列,并进行了相应的实验研究,最终将设计的由3个PVDF触觉传感器构成的触觉传感器群应用到所研究开发的导管操作系统中,进行了相应的实验研究。在控制导管运动的驱动器的研究中,本文分别对两种形式材料的驱动器进行了分析研究,一种是形状记忆合金(SMA)驱动器的设计和研究,对SMA驱动器的电热驱动机理进行了分析,建立了温度动力学模型,并对该模型进行了仿真实验,设计了智能导管的SMA驱动器；另一种是目前流行的离子导电聚合物薄膜(ICPF)集成传感驱动器的研究,分析了该种驱动器的挠度输出和端部输出特性,进行了驱动器建模和驱动器端部力传感器建模,并对传感驱动器的鲁棒性进行了分析以及实验校正,该种驱动器克服了直通耦合、环境噪声等影响。本文还针对神经外科手术用导管操作系统进行了研究,首先介绍了一种主-从遥控导管操作系统,该系统是通过一个控制手柄来控制从动装置端来完成导管的推进操作的,但该种装置无法构成整个导管的力反馈,所以提出了一种线性步进机械装置(LSM)的新型导管操作系统设计,该系统主要基于医生操作的现实感对导管操作系统进行设计,并构成了完整的力反馈系统。这种新型线性步进机械装置结构的主-从导管机械传送装置,可以防止出现打滑现象,更易于操作和消毒,并在系统中易于实现远程控制,可以给医生带来很强的操作感,比老型操作系统更有优势,更便于医生操作。
脑外利手术辅助用智能导管操作系统可以辅助医生进行导管插入,通过计算机控制装置来实现导管的前进、后退与旋转,还可以检测导管在运动过程中的运动阻力,操作者根据触觉力信息的反馈来调整导管的运动,从而给出相应的回应操作,以避免导管损伤血管。
该套系统还可以作为外科手术医生的实验教学系统,在实现未来的完善研究后,便可以很好地解决手术中插管难度高、危险性大的问题,从而可以极大程度上减少医生的工作强度,提高手术的成功率。
At the present time, due to the lack in the necessary instruction methods of cerebral vascular minimally invasive surgery, surgical techniques are very hard to master to the degree that few surgeons in few hospitals across the world can conduct this operation. With the fast development of technology, mechanism and integrated electronics, applying the current technical means to minimally invasive surgery has become central issue of present researchers. This research can improve not only the quality of the operation, but also the security, precision and efficiency of the operation etc.
Setting in the application of vascular interventional operation, this paper carries research on the smart catheter and its operating system assisted in brain surgery. Once the study of the system succeeds, it can reduce operating error rate and. raise the application. This paper summarizes several current bottlenecks encountered in this field; for instance, the surgeons cannot feel the tactile force between blood vessel and catheter when the they operate the robot, whether the active catheter can precisely enter into the anticipant embranchment of the blood vessel when the catheter in arterial bifurcation conditions, the feedback of tactile force information and the reliability of transporting machine for the catheter. All the problems above are carried thorough analysis and research in this paper, and it mainly includes the following aspects:
The tactile sensor is researched in this paper, combining its application in angiocarpy, we chose piezoelectric material Polyvinylidene Fluoride (PVDF) with good dynamic performance as sensitive material of sensors, analyzed piezoelectric characteristics of this material and designed the corresponding charge amplifier circuit, established electrical and mechanical models. Eventually the mathematical model of the tactile force sensor is established and tactile sensor clusters consisting of three PVDF tactile sensors are designed and tested. Besides, the finite element analysis on PVDF array is carried on, cluster analysis and genetic algorithms are also used to optimize the design of tactile sensor array, and then a 3 X 3 PVDF sensor array is designed and corresponding experiments are carried on. Furthermore, in the research of actuator which control the motion of the catheter, two types of material for actuator are analyzed separately, one is the design and research on shape memory alloy (SMA) actuator, the electrothermal driving principle of SMA actuator is analyzed, the model of temperature kinetics is established, and a simulation experiment is carried on this model, the SMA actuator of active catheter is developed; the other one is the research on currently popular Ionic conducting polymer film (ICPF) integrated sensory actuator, the characteristic of bending output and tip output are analyzed, a actuator model and a force sensor model of the end actuator is built, the robustness of senor is analysed and a experimental verification is carried on, it overcomes the influence of feedthrough coupling and enviromental noises, and so on. Finally, operating system of catheter for neurosurgery is researched, first we introduced a master-slave remote catheter operating system which utilizes a handle to control the slave-side to complete the propulsion manipulate of catheter, but this device can not constitute the entire catheter force feedback, therefore we propose a new catheter operating system design based on linear stepping mechanism (LSM), the catheter operating system is designed mainly based on the reality of a doctor operating system on the catheter, and the complete force feedback system is constituted. The structure of a new type linear step mechanism can prevent slip and easy for operate and antisepsis, and it is easy for remote control in the system, it can give the surgeon a strong sense of the operation, it has more advantages than old systems and is more convenient for the doctor.
The active catheter operating system assisted in brain surgery can help surgeon to perform catheter insertion, it can realize the forward, backward and rotation of the catheter by the computer control equipment, and it can inspect the kinetic resistance of the catheter in the course of motion. The manipulator adjust the motion of the catheter according to the feedback of the tactile force information, and then give the relevant response operate in order to avoid damage to the blood vessel.
The system can also be used as an experimental teaching system of the surgeon, after finishing the improvement of the future work, we can have a good solution to the high difficulty in insertion and the big danger problems, which can largely reduce the working strength of the surgeon and improve the success rate of the operation.
本文以血管介入手术作为应用背景,针对脑外科手术辅助用智能导管以及导管操作系统展开研究,该系统一旦研究成功可实现降低操作失误率,提高手术质量的应用目标。本文总结了该领域目前所遇到的若干瓶颈,针对医生操作机器人进行血管介入手术时,无法感觉到血管和导管之间的触觉力,主动导管在血管分叉时是否能准确地进入目标血管分支,导管触觉力信息的反馈,以及导管输送机械装置的可靠性等诸多方面问题都进行了深入分析和研究,具体内容主要包括以下几个方面：
结合在心血管中的应用,本文选用动态性能良好的压电材料聚偏二氟乙烯(PVDF)作为触觉力传感器的敏感材料,分析了该种材料的压电特性,设计了相应的电荷放大电路,对其进行电学和力学模型的建立,最终建立了触觉力传感器的数学模型。本文还对PVDF传感器阵列进行了有限元分析,通过聚类分析并应用遗传算法对PVDF触觉传感器阵列进行了最优方法设计,设计了3×3式PVDF传感器阵列,并进行了相应的实验研究,最终将设计的由3个PVDF触觉传感器构成的触觉传感器群应用到所研究开发的导管操作系统中,进行了相应的实验研究。在控制导管运动的驱动器的研究中,本文分别对两种形式材料的驱动器进行了分析研究,一种是形状记忆合金(SMA)驱动器的设计和研究,对SMA驱动器的电热驱动机理进行了分析,建立了温度动力学模型,并对该模型进行了仿真实验,设计了智能导管的SMA驱动器；另一种是目前流行的离子导电聚合物薄膜(ICPF)集成传感驱动器的研究,分析了该种驱动器的挠度输出和端部输出特性,进行了驱动器建模和驱动器端部力传感器建模,并对传感驱动器的鲁棒性进行了分析以及实验校正,该种驱动器克服了直通耦合、环境噪声等影响。本文还针对神经外科手术用导管操作系统进行了研究,首先介绍了一种主-从遥控导管操作系统,该系统是通过一个控制手柄来控制从动装置端来完成导管的推进操作的,但该种装置无法构成整个导管的力反馈,所以提出了一种线性步进机械装置(LSM)的新型导管操作系统设计,该系统主要基于医生操作的现实感对导管操作系统进行设计,并构成了完整的力反馈系统。这种新型线性步进机械装置结构的主-从导管机械传送装置,可以防止出现打滑现象,更易于操作和消毒,并在系统中易于实现远程控制,可以给医生带来很强的操作感,比老型操作系统更有优势,更便于医生操作。
脑外利手术辅助用智能导管操作系统可以辅助医生进行导管插入,通过计算机控制装置来实现导管的前进、后退与旋转,还可以检测导管在运动过程中的运动阻力,操作者根据触觉力信息的反馈来调整导管的运动,从而给出相应的回应操作,以避免导管损伤血管。
该套系统还可以作为外科手术医生的实验教学系统,在实现未来的完善研究后,便可以很好地解决手术中插管难度高、危险性大的问题,从而可以极大程度上减少医生的工作强度,提高手术的成功率。
At the present time, due to the lack in the necessary instruction methods of cerebral vascular minimally invasive surgery, surgical techniques are very hard to master to the degree that few surgeons in few hospitals across the world can conduct this operation. With the fast development of technology, mechanism and integrated electronics, applying the current technical means to minimally invasive surgery has become central issue of present researchers. This research can improve not only the quality of the operation, but also the security, precision and efficiency of the operation etc.
Setting in the application of vascular interventional operation, this paper carries research on the smart catheter and its operating system assisted in brain surgery. Once the study of the system succeeds, it can reduce operating error rate and. raise the application. This paper summarizes several current bottlenecks encountered in this field; for instance, the surgeons cannot feel the tactile force between blood vessel and catheter when the they operate the robot, whether the active catheter can precisely enter into the anticipant embranchment of the blood vessel when the catheter in arterial bifurcation conditions, the feedback of tactile force information and the reliability of transporting machine for the catheter. All the problems above are carried thorough analysis and research in this paper, and it mainly includes the following aspects:
The tactile sensor is researched in this paper, combining its application in angiocarpy, we chose piezoelectric material Polyvinylidene Fluoride (PVDF) with good dynamic performance as sensitive material of sensors, analyzed piezoelectric characteristics of this material and designed the corresponding charge amplifier circuit, established electrical and mechanical models. Eventually the mathematical model of the tactile force sensor is established and tactile sensor clusters consisting of three PVDF tactile sensors are designed and tested. Besides, the finite element analysis on PVDF array is carried on, cluster analysis and genetic algorithms are also used to optimize the design of tactile sensor array, and then a 3 X 3 PVDF sensor array is designed and corresponding experiments are carried on. Furthermore, in the research of actuator which control the motion of the catheter, two types of material for actuator are analyzed separately, one is the design and research on shape memory alloy (SMA) actuator, the electrothermal driving principle of SMA actuator is analyzed, the model of temperature kinetics is established, and a simulation experiment is carried on this model, the SMA actuator of active catheter is developed; the other one is the research on currently popular Ionic conducting polymer film (ICPF) integrated sensory actuator, the characteristic of bending output and tip output are analyzed, a actuator model and a force sensor model of the end actuator is built, the robustness of senor is analysed and a experimental verification is carried on, it overcomes the influence of feedthrough coupling and enviromental noises, and so on. Finally, operating system of catheter for neurosurgery is researched, first we introduced a master-slave remote catheter operating system which utilizes a handle to control the slave-side to complete the propulsion manipulate of catheter, but this device can not constitute the entire catheter force feedback, therefore we propose a new catheter operating system design based on linear stepping mechanism (LSM), the catheter operating system is designed mainly based on the reality of a doctor operating system on the catheter, and the complete force feedback system is constituted. The structure of a new type linear step mechanism can prevent slip and easy for operate and antisepsis, and it is easy for remote control in the system, it can give the surgeon a strong sense of the operation, it has more advantages than old systems and is more convenient for the doctor.
The active catheter operating system assisted in brain surgery can help surgeon to perform catheter insertion, it can realize the forward, backward and rotation of the catheter by the computer control equipment, and it can inspect the kinetic resistance of the catheter in the course of motion. The manipulator adjust the motion of the catheter according to the feedback of the tactile force information, and then give the relevant response operate in order to avoid damage to the blood vessel.
The system can also be used as an experimental teaching system of the surgeon, after finishing the improvement of the future work, we can have a good solution to the high difficulty in insertion and the big danger problems, which can largely reduce the working strength of the surgeon and improve the success rate of the operation.
引文
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