在跨导管心脏病干预中,可导向导管的路径跟踪控制在导管心脏病干预中
Xiu Zhang1, Aditya Sridhar2, Xuan Thao Ha2
1Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133, Milan, Italy. xiu.zhang@polimi.it.
International journal of computer assisted radiology and surgery
|February 22, 2024
概括
这项研究介绍了一种用于机器人可引导导管的新型自主控制系统,可实现高精度的导航复杂的血管路径,用于跨导管干预.
科学领域:
- 心血管干预 心血管干预
- 机器人在医学中的机器人
- 医疗设备导航 医疗设备导航
背景情况:
- 透导管干预提供了传统手术的更少侵入性的替代方案,用于诸如 mitra regurgitation 等疾病.
- 目前的跨导管中枢维修依赖于导管系统,但精确的导航仍然是一个重大挑战.
研究的目的:
- 开发和评估一套路径跟踪控制框架,用于血管光线中可导向导管的自主导航.
- 为了应对在跨导管手术期间精确导管操纵的挑战.
主要方法:
- 开发了一种机器人可导向的导管系统,其动力学模型包含非holonomic 约束.
- 设计了一个双层反控制器,利用来自电磁和光纤布拉格格传感器的实时数据.
主要成果:
- 该系统在患者特定的血管幻影中显示出高精度,中位位置误差低于2毫米.
- 性能显示,自由空间和接触区域之间没有显著差异,表明了强大的导航.
结论:
- 拟议的自主导管控制系统在跨导管心脏病干预中显示出有希望的准确性.
- 这种方法可以实现精确的导航,而不需要参数校准或训练数据集.
相关概念视频
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