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Study on a Novel Type of the Robot-assisted Endovascular Catheterization System
https://kagawa-u.repo.nii.ac.jp/records/404
https://kagawa-u.repo.nii.ac.jp/records/404b156aa27-0c4a-4ae6-b44b-7d6704d8927b
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本文の要約 (1.1 MB)
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内容の要旨及び審査結果の要旨 (250.9 kB)
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| Item type | 学位論文 / Thesis or Dissertation(1) | |||||||||||
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| 公開日 | 2019-09-24 | |||||||||||
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| タイトル | Study on a Novel Type of the Robot-assisted Endovascular Catheterization System | |||||||||||
| 言語 | en | |||||||||||
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| 言語 | eng | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_db06 | |||||||||||
| 資源タイプ | doctoral thesis | |||||||||||
| 著者 |
張, 林帥
× 張, 林帥
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | Abstract For vascular tumors, thrombosis, vascular malformations, vascular contractions, vascular sclerosis, and other vascular diseases, endovascular interventional procedure is found to be the most effective treatment method. Compared with traditional open surgery, endovascular interventional procedure has many advantages: smaller incisions, quicker recovery and fewer complications. Nonetheless, some potential challenges also have been introduced in: repeated exposure radiation of the surgeon to X-ray causes occupational hazards; the surgeon must be highly skilled and specialized due to the high risks involved. In recent years, the robot-assisted technology has become a hot study topic. To solve these challenges mentioned above, a master-slave robotic catheterization system, which can assist the surgeon to operate the catheter from a safe space, has made a great contribution to reduce the X-ray radiation and filter out the physiological tremors of a surgeon, as well as improve the position accuracy of the catheter. Despite their increased application and interest in this area, few systems have considered the ergonomic design to fit the natural behavior and operation modes of experienced surgeons during the traditional endovascular procedures. Inadequate force feedback and collision warning while operating surgical tools elevate the risk of endovascular procedures. Inspired by such motivations, this thesis proposes a robot-assisted endovascular catheterization system that augments surgeon’s actions using conventional surgical tools, as well as generates feedback in order to ensure safety during the procedure. To implementation this, firstly, a novel slave manipulator based on electromagnetic braking is designed to realize adaptive, lossless and stable clamping for catheters/guidewires. A high-precision force sensor is embedded in the slave manipulator to measure the reaction force and realize the effective force feedback. Secondly, a theoretical model for collision protection based on the proposed clamping mechanism is established to alleviate the collision trauma to blood vessels, and the performance of the collision protection mechanism is validated by the in vitro experiments, which implies the realization of relative safe catheterization. Thirdly, the motion input unit based on the rack and pinion mechanism with two rotary encoders is presented as the master manipulator to transmit the motion information, which can take full advantage of natural manipulation skills for surgeons. The performance of bilateral operation is evaluated by experiments. The results illustrate that the transmission accuracy of axial and radial motion can meet the requirements of surgery. Fourthly, in order to improve the safe operation consciousness of surgeons, it is necessary for tip collision cues to be transmitted quickly to the operator in haptic cues except force feedback. The application of the master haptic interface based on magnetorheological (MR) fluids and the high-precision force sensor makes the collision warning in haptic cues possible. The performance of collision warning in haptic cues is evaluated by the integrated system in the Endo Vascular Evaluator (EVE) model and the results demonstrate its effectiveness for reminding the surgeon of tip collision happened. Finally, to increase the operation dexterity and the success rate of the task in complex surgeries, two slave manipulators are implemented to realize the cooperative motion of a catheter and a guidewire. The performance evaluation experiments in vitro are performed by the EVE model. The results demonstrate that the proposed collaborative insertion has high dexterity and efficiency compared with no collaborative insertion. Thus, this research provides important insights into the development of ergonomic, safe and intelligent robotic catheter/guidewire operating systems incorporating effective real-time force feedback and haptic feedback for endovascular procedures. |
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| 言語 | en | |||||||||||
| 学位名 | ||||||||||||
| 言語 | ja | |||||||||||
| 学位名 | 博士（工学） | |||||||||||
| 学位授与機関 | ||||||||||||
| 識別子Scheme | kakenhi | |||||||||||
| 識別子 | 16201 | |||||||||||
| 言語 | ja | |||||||||||
| 機関名 | 香川大学 | |||||||||||
| 言語 | en | |||||||||||
| 機関名 | Kagawa University | |||||||||||
| 学位授与年月日 | ||||||||||||
| 学位授与年月日 | 2019-03-24 | |||||||||||
| 学位授与番号 | ||||||||||||
| 学位授与番号 | 甲第134号 | |||||||||||
| 権利 | ||||||||||||
| 言語 | en | |||||||||||
| 権利情報 | © Copyright by Linshuai Zhang, 2019 All rights reserved | |||||||||||
| 権利 | ||||||||||||
| 言語 | ja | |||||||||||
| 権利情報 | 香川大学図書館及び国立国会図書館での閲覧制限：本文全文の閲覧制限あり。 | |||||||||||
| 権利 | ||||||||||||
| 言語 | en | |||||||||||
| 権利情報 | Restricted viewing at Kagawa University Library and National Diet Library: Restricted viewing of full text. | |||||||||||
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| 識別子タイプ | NAID | |||||||||||
| 関連識別子 | 500001405372 | |||||||||||
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| 関連タイプ | isIdenticalTo | |||||||||||
| 識別子タイプ | URI | |||||||||||
| 関連識別子 | https://dl.ndl.go.jp/pid/11499055 | |||||||||||
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| 28768 | ||||||||||||
