Design And Sutdy Of Robot Assisted Guide Wire Inserition In Interventional Procedures

As the developing of MIS(Minimally Invasive Surgery), it has been widely accepted by doctors and patients for its simple operation, minimum incision, less pain to the patients, short recovery time and less risk. Many therapies that need open surgeries have turned to MIS. To address the problems such as the large amount of radiation taken by doctors and the long time of operation in TACE (Transcatheter Arterial ChemoEmbolization) for the treatment of hepatic tumor in the PLA 455 Hospital, we carried out the research of applying robot assistance in guide wire insertion.First, the whole procedure of the present TACE surgery was analyzed and the main steps that the assisting robot should accomplish were determined.Second, we innovatively applied the laser mouse sensor as a displacement sensor, proved its feasibility for the measurement of guide wire displacement through theory analysis. At the same time, with its high integrity and good performance, the LMS could provide a low cost solution for linear and rotary displacement measurement especially the combination of the two directions.After analyzing similar solutions, we proposed a design for robot assisted guide wire insertion system. We used LMS as guide wire displacement sensor, got video feedback from webcam, accomplished the guide wire displacement measurement device, guide wire insertion device and the mechanical and electrical design of controller and finished the debugging.Then the software design was accomplished based on the hardware. Data collection, webcam video capturing and data transferring tasks were finished on Windows operating system using C and C#. The lower computer deployed embedded operating system. Migration of OS, data transferring and motion control tasks were programmed and debugged.At last, experiments on LMS performance and video navigated remote manipulation were carried out based on the finished hardware and the results were analyzed. Experiment results showed that LMS was fully capable of measuring displacement of guide wire and the measuring accuracy was given. Video navigation experiment proved that guide wire displacement measuring device, guide wire insertion device and video navigation software cooperated well. Apart from that, an important factor affected time cost of video navigation was discovered which offered a potential direction for future research.