Master-slave Interactive Control and Implementation for Minimally Invasive Vascular Interventional Robots
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摘要: 微创血管介入手术是治疗冠心病的重要治疗手段, 手术中要求对导管、导丝等介入器械高精度递送.得益于机器人技术的高精度、可远程操作等特点, 血管介入手术机器人的研制受到了极大关注.在微创血管介入手术中, 按导管或导丝远端所处血管部位, 将介入器械递送过程分为三个阶段: 1) 主动脉阶段:导丝或导管远端位于主动脉, 需快速前送, 以减少X射线和造影剂的使用; 2) 冠脉入口阶段:导丝或导管远端进入冠脉, 此时需选择相应的病变冠脉分支; 3) 冠脉病变阶段:导丝或导管远端位于狭窄病变部位, 需要高精度操作才能使导丝或导管穿过狭窄病变.针对器械递送的不同阶段, 提出具有运动缩放的主从控制方法, 通过改变血管介入手术机器人主端和从端之间的运动缩放关系, 实现机器人从端对主端操作的放大、缩小或等比例复现.通过在微创血管介入手术机器人平台实验, 验证了机器人从端对主端操作缩放的可行性和有效性.通过操作时间和操作精度对比分析得到:在缩放因子为4时操作时间减少39.9%;在缩放因子为1/4时, 平移和旋转操作精度分别提高72.9%和77.1%.Abstract: Minimally invasive vascular intervention is an important treatment for the coronary heart disease. High-precision catheter and guidewire delivery are required in the operation. Benefited from the high accuracy and remote operation of the robot technology, the development of vascular interventional robot has attracted increasing attention. During the intervention, according to the distal end position of the guidewire/catheter, the procedure of device delivery could be divided into three stages. 1) Aorta stage: the distal end of the guidewire/catheter is in the aorta. High delivery speed is required in this stage to minimize the dosage of the X-ray and the contrast medium. 2) Coronary artery ostium stage: the distal end of the guidewire/catheter approaches the ostium of the coronary artery, and the guidewire is rotated to enter the specific artery. 3) Stenotic coronary artery stage: the distal end of the guidewire is at the stenosis, high accuracy manipulation is required. Motion scaling based master-slave control is presented for different stages of the device delivery. By changing the motion scaling factor between the master side and the slave side of the vascular interventional robot, the manipulation of the master side is magnified, minified or equally repeated at the slave side. Experiments of the minimally invasive vascular interventional robot has validated the feasibility and effectiveness of the scaling. The manipulation time is reduced by 39.9% when the scaling factor is 4, and the accuracies of translation and rotation are improved by 72.9% and 77.1%, respectively under scaling factor 1/4.
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Key words:
- Medical robot /
- vascular interventional surgery /
- motion scaling /
- master-slave control
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图 1 微创血管介入手术机器人活体动物实验场景图
Fig. 1 In vivo animal trial setup of minimally invasive vascular interventional robot
图 2 血管介入机器人的主从控制框图
Fig. 2 Master-slave control diagram of vascular interventional robot
图 4 导引导丝、支架导管及电磁跟踪传感器
Fig. 4 Experimental guidewire, catheter and electromagnetic tracking sensors
图 6 不同比例因子下主端和导丝的平移距离
Fig. 6 The distances of the master side and the guidewire in different scaling factors
图 8 不同比例因子下操作时间与误差对比
Fig. 8 The comparison of time expense and error in different scaling factors
表 2 不同递送阶段比例缩放策略
Table 2 Motion scaling method for different delivery stage
阶段 运动缩放因子 缩放效果 第一阶段(主动脉) µ > 1, ψ > 1 放大 第二阶段(冠脉入口) µ = 1, ψ = 1 等比例 第三阶段(狭窄病变) µ < 1, ψ < 1 缩小 
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