Research On Robot-assisted Endovascular Navigation Of Guidewire And Condition Monitoring

Cardiovascular disease is one of the main factors that seriously endanger human health.Minimally invasive intervention is an effective treatment for the disease.But radiation damage to medical staff can be caused by X – ray fluoroscopy used in endovascular intervention.With the application of teleoperated robotic catheterization systems for endovascular intervention,radiation exposure can be reduced.However,there is a lack of conveyance status recognition of guidewire,resulting in arterial wall trauma which increases the risk of postoperative complications.In this paper,a teleoperated robotic catheterization system for endovascular intervention is established based on the analysis of operations of guidewire.A linear motion unit is used to insert or retract guidewire.And a gear pair is applied to rotate guidewire.Conveying resistance of the guidewire is chosen to be measured as a feedback to the operator.Key technologies are validated through the construction and evaluation of the system.Based on the analysis of endovascular intervention procedures,three kinds of conveyance status which are conveying in straight,curved and blocked vessel are defined.Theoretical and experimental analyses of relationship between conveying resistance and conveyance status are conducted.The results show that there are differences among the conveying resistance signals of three kinds of conveyance status.The conveying resistance is affected by diameter and radius of curvature of the vessel,direction of angled guidewire and properties of the obstruction.Conveyance status can be recognized according to the characteristics of conveying resistance signals which introduces artificial intelligence into endovascular intervention and optimizes the conveyance strategy.It is of great theoretical significance and medical application value to conduct the research on robotic-assisted endovascular navigation of guidewire and condition monitoring.