| Effective radiofrequency ablation for patients affected by arrhythmia can significantly improve their long-term quality of life and significantly reduce the risk of sudden cardiac death.The current failure to maintain a high success rate in clinical medical operations is mainly due to the inability to accurately navigate the radiofrequency ablation catheter inside the heart.At present,related studies have shown that the flexible catheter can be accurately controlled by using an external magnetic field.The remote magnetic navigation technology has shown its potential in treating common diseases such as arrhythmia in the hard-to-reach area of the human heart.However,this technology is still in its infancy,especially the domestic research on remote magnetic navigation and guiding the movement of micro-surgical instruments in the body is relatively scarce.This field has great potential for improvement and optimization.This paper summarizes and analyzes the current domestic and foreign research on remote magnetic navigation for cardiovascular interventional surgery,and proposes a new type of magnetically guided surgical robot system mainly used for the treatment of atrial fibrillation.Compared with the traditional surgical robot system,this system has two major advantages:(1)Reduce the experience requirements of the attending physician,easy and humanized operation;(2)Improve safety.Reduce the damage to the patient's body tissue and postoperative recurrence caused by interventional surgical instruments,and reduce the radiation damage of medical imaging equipment to doctors.The system uses a multi-degreeof-freedom manipulator to load large permanent magnets,and builds a changing magnetic field by changing the position of the permanent magnet in the working area,thereby applying changing magnetic field force and magnetic field torque on the interventional surgical device to realize the flexible body navigation and deflection in the body.In order to provide a reliable required target magnetic field,this paper uses a magnetic dipole model to describe the magnetic field distribution of the external drive permanent magnet,and constructs a Jacobian mapping matrix from the change of the joints of the multi-degree-of-freedom manipulator to the magnetic field force and magnetic field torque of the miniature permanent magnet on the flexible body,which makes it possible to inversely solve the Jacobian matrix to obtain the change of the robotic arm joint.In order to accurately predict the position of the end of the flexible body,this paper proposes to use the Cosserat rod theory to reconstruct the shape of the flexible body.In the simulation environment,visualize the reachable area of the flexible body's end position in the changing magnetic field and realize the morphology optimization of the flexible body in a narrow constrained environment through multi-point magnetic control,which will help greatly reduce the interventional surgical equipment on the human tissue damage.On the one hand,the experiment collects flexible volume data based on the theoretical model proposed in this paper,which verifies the validity of the model;on the other hand,it demonstrates the potential of the system to operate in vascular simulation tissue.This article's research on the robotic system for cardiovascular interventional surgery will help to realize a new diagnosis and treatment plan for visceral surgery,reduce the operating pressure of the attending doctor and improve postoperative recovery.In addition,the framework and theoretical algorithms of the system are also useful for other related interventional surgeries. |
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