引き下げ可能な遠端気球を搭載した動ロボットによる誘導線へ

C Cloud Barré¹, Jaydev P Desai¹

¹Wallace H. Coulter Department of Biomedical Engineering, Medical Robotics and Automation (RoboMed) Laboratory, Georgia Institute of Technology, Atlanta, GA 30332 USA.

IEEE robotics and automation letters

|August 20, 2025

まとめ

最小侵襲的処置の際に組織を保護するために統合された風船を備えています. この革新は血流を緩め安定させ停止させ血管介入の安全性と有効性を高めます

科学分野:

生物医学工学
医療機器
侵襲的な手術

背景:

最低侵襲性血管内科および経導管の手続きは,ツール投与のためのガイドワイヤに依存しています.
既存の制御可能なガイドワイヤーは,血管のナビゲーション中に組織損傷のリスクをもたらします.
遠隔栓塞などの合併症を防ぐために強化された安全機能が必要です

研究の目的:

バルーンを動脈で操縦できるガイドワイヤに組み込む方法論を導入する.
組織との接触を抑制し導線を安定させ血流を停止させる
血管内科の手術におけるガイドワイヤーの使用に関連するリスクを軽減するために

主な方法:

統合された気球を搭載した動ロボットによる誘導ワイヤの開発.
関節の曲率と液体エレメントの膨張に対する流体チャネル効果のモデリング.
バルーンのアクチュエーションのための液圧ポンプのインジェクション成形と統合による製造.
曲げと膨張モデルの実験的検証
パルサチルフローの下の幻血管モデルでテストする.

主要な成果:

バルーンを誘導ワイヤに組み込みました
曲げと膨張モデルの正確な実験検証
導線の横断,気球の膨張, 血流の停止をシミュレートした血管環境で示した.

結論:

開発された操縦可能な風船ガイドワイヤシステムは,より安全な血管介入のための有望な解決策を提供します.
統合された風船は組織を効果的に緩め装置を安定させ血流を止めることができます
提示された方法論とモデルは,操縦可能な気球ガイドワイヤシステムで検証されています.

キーワード:

手術用ロボット:制御可能なキャセター/ニードルメカニズム設計医療用ロボットとシステム

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