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相关概念视频

Endoscopic Procedures V: ERCP01:26

Endoscopic Procedures V: ERCP

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Endoscopic Retrograde Cholangiopancreatography (ERCP) is a diagnostic procedure that combines endoscopy and fluoroscopy to diagnose and treat conditions related to the bile ducts, pancreatic ducts, and gallbladder. This procedure is beneficial for identifying and addressing blockages, gallstones, strictures, and tumors within the biliary or pancreatic systems. ERCP is both diagnostic and therapeutic, offering the ability to visualize and treat identified problems in one session.
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Endoscopic Ultrasound (EUS) and FibroScan are valuable diagnostic tools in gastroenterology and hepatology, each with specific applications and techniques.
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相关实验视频

Updated: Sep 15, 2025

Reduction of Radiation Exposure during Endovascular Treatment of Peripheral Arterial Disease Combining Fiber Optic RealShape Technology and Intravascular Ultrasound
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一种可变刚度的机器人可导向导线,用于内血管干预.

Timothy A Brumfiel1, Revanth Konda1, Nidhi Malhotra1

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

npj Robotics
|July 14, 2025
PubMed
概括
此摘要是机器生成的。

这项研究引入了可调节刚度的机器人可引导导线,旨在简化内血管干预. 这项创新可以通过使用单一可控制的导线来减少手术时间,辐射暴露和成本.

关键词:
生物医学工程 生物医学工程机械工程 机械工程 机械工程

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科学领域:

  • 医疗机器人 医疗机器人
  • 生物医学工程 生物医学工程
  • 干预心脏病学 干预心脏病学

背景情况:

  • 内血管干预依赖于导线放置,通常由复杂的解剖学和有限的方向性而复杂化.
  • 目前的做法需要多个不同度的导线,导致延长程序,增加辐射和更高的成本.

研究的目的:

  • 设计,建模和控制一种由肌驱动的机器人可转向的导线.
  • 为了在导线的近接段沿着可控制的刚性.
  • 为了证明单个导线在程序中可以取代多个设备的潜力.

主要方法:

  • 开发一种肌驱动的机器人系统,用于导线方向盘.
  • 导线运动动态的建模.
  • 使用图像反实现闭环控制系统.
  • 整合一个可以控制度的硬化机制.

主要成果:

  • 控制器实现了1.82° (距离关节) 和0.70° (硬化关节) 的最大偏斜根平均平方误差 (RMSE).
  • 硬化关节准确地实现了目标硬度值,最大RMSE为1.9 × 10-2 Nm2.

结论:

  • 开发的机器人可转向的导线显示了精确的运动控制和可调节的刚度.
  • 这项技术有可能显著提高效率,并减少内血管干预中的并发症.
  • 一个单一的,可控制的导线可以简化程序,使患者和医疗保健提供者都受益.