多部分磁性软机器人与多机器人导航系统用于血管干预干预
1Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Macau, China.
Cyborg and bionic systems (Washington, D.C.)
|November 29, 2024
概括
这项研究介绍了一种用于微创心血管手术的新型磁性软机器人. 该机器人以超声波和磁场为指导,在复杂的血管环境中实现了精确的导航.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 医疗器械 医疗器械
- 心血管外科心血管外科
背景情况:
- 最少侵入性心血管外科手术需要先进的工具来准确导航.
- 磁性软机器人为复杂的血管内干预提供了潜力.
- 现有的系统可能缺乏多分叉场景所需的灵巧性和控制能力.
研究的目的:
- 介绍一个新的多段磁软机器人 (MS-MSR) 的分析建模和控制.
- 为了实现精确的血管内干预,使用磁性启动和超声波指导.
- 开发一个协作多机器人导航系统 (CMNS) 以提高机动性.
主要方法:
- 优化的Cosserat棒模型用于MS-MSR的动力学和动态分析.
- 不同质的磁场产生用于复杂的方向盘.
- 身体外超声波导航用于闭环尖端跟踪.
- 在CMNS中用于多目标运动同步的二次编程.
主要成果:
- 在多分叉血管内环境中成功导航MS-MSR.
- 实现了低形状建模错误 () 和尖端错误 ().
- 通过超声波指导证明了有效的闭环控制和多机器人协作.
结论:
- 拟议的MS-MSR和CMNS对超声波引导的血管内干预是有效的.
- 该系统在复杂的血管几何形状中显示出高精度和适应性.
- 这项技术对推进微创心脏手术具有重大前景.
相关概念视频
01:30Equipments Used To Measure Blood Pressure
3.4K
Direct Method
This invasive approach involves cannulating a peripheral artery. During each cardiac contraction, pressure generates mechanical motion within the catheter, transmitted through rigid, fluid-filled tubing to a transducer. This transducer converts mechanical motion into electrical signals displayed as waveforms on a monitor. An automatic flushing system prevents blood backflow. Due to the potential risk of unexpected arterial blood loss, this method is primarily used in intensive...
This invasive approach involves cannulating a peripheral artery. During each cardiac contraction, pressure generates mechanical motion within the catheter, transmitted through rigid, fluid-filled tubing to a transducer. This transducer converts mechanical motion into electrical signals displayed as waveforms on a monitor. An automatic flushing system prevents blood backflow. Due to the potential risk of unexpected arterial blood loss, this method is primarily used in intensive...
3.4K
01:17Autoregulation of Blood Flow
10.0K
Autoregulation mechanisms are characterized by their inherent capacity for self-regulation without necessitating specific nervous stimulation or endocrine control. These mechanisms facilitate the adjustment of blood flow and, therefore, perfusion specific to each tissue region. This self-regulation encompasses chemical signals and myogenic controls.
Chemical Signaling in Autoregulation
Chemical signaling operates at the precapillary sphincter level, inciting either contraction or relaxation....
Chemical Signaling in Autoregulation
Chemical signaling operates at the precapillary sphincter level, inciting either contraction or relaxation....
10.0K