The Research On The Key Technology Of Visual Intracardiac Minimally Invasive Interventional Surgery

Minimally invasive surgery is a new type of surgical procedure for the diagnosis and treatment of heart disease by a flexible catheter.But there are some problems in the image guidance procedure of the operation:(1)The structure of the organization in images captured by the image guidance device is not intuitive,it is difficult to distinguish;(2)The reconstructed images can't realize the effective evaluation of operation effect after the surgery.In order to overcome these disadvantages,this paper develops the visual catheter interventional techniques in the heart blood environment,the controllability of the catheter,and the force feedback technology to ensure the safety of catheter operation.The work includes the followings:According to the blood environment in heart,the overall structure of the system is designed using optical fiber endoscope and the injection device is designed based on the ECG gating.The simulation analysis of the nozzle jet fluid is carried out to ensure the function of image acquisition and the protection of the heart.The prototype is manufactured and the performances of the visual catheter are evaluated by the experimental platform.In order to improve the controllability of the visual catheter,a controllable doublebended catheter is designed and implemented.Mechanics and kinematics model of the controllable double-bended catheter bending section are established,and the experiments are carried out to verify the kinematics.A double-bended catheter prototype with operating handle is developed.The experiments are carried out to verify the kinematics and its performance is evaluated.Aimed at the safety problem of the visual catheter operation,a three dimensional force feedback sensor based on reflective fiber distance measuring principle is designed.An analysis model of the relationship between the three dimensional force and the output power of the optical fiber are established.The emphasis is on the design of the elastic parts,and the simulation analysis is carried out.The prototype of force feedback sensor is realized and the performance of the sensor is built up to evaluate the performance of the sensor.In this paper,the three key technologies of the direct vision technology in the heartblood environment,the controllability of a catheter and three-dimensional force feedback technology can effectively solve the problem of intracardiac direct vision surgery.The controllable visual catheter provides a flexible and multi-angle observation environment to the intracardiac minimally invasive procedures,simplifies the operation process,and avoids the bad operation environment.Meanwhile,there are great significance to improve the success rate of operation and to reduce the operation risk and the additional damage.