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一个模拟环境,用于机器人辅助的内血管干预.

Matteo Pescio1,2,3, Chenhao Li4, Dennis Kundrat4,5

  • 1Politecnico di Torino, Turin, Italy.

International journal of computer assisted radiology and surgery
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概括
此摘要是机器生成的。

这项研究开发了一个机器人内血管手术的模拟环境,改善了导管力和位置精度. 这些发现通过在复杂的血管干预中实现更高的精度来增强微创手术.

关键词:
数字双胞胎 数字双胞胎 数字双胞胎内血管机器人手术是什么意思基于模型的力量和形状感应.手术模拟器手术模拟器

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科学领域:

  • 医疗机器人 医疗机器人
  • 计算外科手术 计算外科手术
  • 生物机械工程 生物机械工程

背景情况:

  • 心血管疾病是全球主要的死亡原因.
  • 内血管手术为开放式手术提供了一个替代方案.
  • 机器人平台和导航软件增强了内血管干预.

研究的目的:

  • 开发一种基于模型的模拟环境,用于内血管机器人手术.
  • 在SOFA框架内启用形状和力传感能力.
  • 提高微创手术应用中的准确性和可靠性.

主要方法:

  • 模拟的血管导管使用束理论.
  • 应用有限元法 (FEM) 来实现现实的导管-血管相互作用.
  • 经过验证的模拟与实验测量力和位移.

主要成果:

  • 模拟的力和位移测量经过实验验证.
  • 导管接触力显示的绝对误差为0.0371N (30.45%).
  • 弹性FEM模型在不同错误的解剖变形方面表现最好.

结论:

  • 先进的物理建模和人机交互提高了MIS的准确性.
  • 增强的计算能力支持内血管干预的创新解决方案.
  • 开发的模拟环境有助于提高临床医生的准确性和可靠性.