Design And Research On The Robot For Catheters Used For Interventional Procedures

The application of minimally invasive surgical technique (MinimallyInvasive Surgery) is a revolution of the20th century. Its application makesthe most of the surgical to farewell the open surgery. Compared withtraditional open surgery, MIS can alleviate the suffering of the patients,reduce the risk of wound infection, make rapid postoperative recovery, andhelp to improve the quality of operation and reduce the cost of medical.However, in traditional minimally invasive surgical procedures doctorsconduct surgery in the operating room, so that the physician is inevitablyaffected by the X-ray radiation. The PLA455Hospital also encounteredthis problem during the treatment of liver tumors transcatheter arterialhepatic artery chemotherapy embolization. The research on the use ofinterventional surgical robot to assist physicians to complete a catheterinserted into the vascular is conducted. First, The current TACE surgery is analyzed conducted detailedly, andthe use of interventional surgical robot to assist in the completion of thefocus of the operation to be completed determined.Second, in the analysis of the key technical issues catheterinterventional surgical robot, combined some research, we propose acatheter interventional surgical robot a program which use friction wheelstructure to realize the linear movement of the catheter, use gear meshingtransmission to realize the rotational motion of the guide wire, and usecamera video as a feedback tool. We complete the insertion of the catheterinterventional surgical robot device, the controller mechanical design andhardware design and debug successfully.Third, on the basis of the designed hardware, we conduct a controlsystem on the lower computer software design. We write programs onWindows systems, data acquisition, complete camera image acquisitiontasks, and solve the problem of lower machine data transfer. The lowermachine using embedded system, complete the preparation of the programof the embedded operating system migration, data communication andmovement output and was debugged successfully.Finally, the use of the design completed catheter intervention robotbasic movement, including catheter forward and backward movement and catheter rotary motion, proves that the whole system debugs. Intervene onthe catheter device relative to the main control terminal of the joystickresponse experiments were carried out and the results were analyzed. Theexperimental data and the results show that the catheter interventionalsurgical robot system produced by the subject to achieve the movement ofthe catheter, and the response speed of the catheter quickly, to meet thereal-time operation requirements.