一个同心管导管用于内膜干预,通过磁共振成像指导和成像
Peter Lloyd1, Nikita Murasovs1, Yael L May1
1STORM Lab, Department of Electrical and Electronic Engineering, University of Leeds, Leeds, UK.
Communications engineering
|March 10, 2026
概括
我们开发了一种用于机器人导管的新型同轴袖磁起动器 (CoSMA),可实现增强的控制和形状传感. 这种MRI兼容的设备为复杂的医疗程序提供了更好的安全性和机动性.
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
- 磁共振成像技术 磁共振成像技术
背景情况:
- 机器人导管在控制自由度 (DoF) 和获得导管形状/姿势反方面面临着挑战.
- 磁性驱动和MRI为小型化的主动方向盘和无辐射形状感应提供了潜在的解决方案.
研究的目的:
- 提出和演示一个结构性可适应的同轴袖磁执行器 (CoSMA) 用于机器人导管.
- 为了利用MRI的背景磁场进行导管变形和形状传感.
主要方法:
- CoSMA将磁力驱动 (轻松对准轴) 与同心管设计原则相结合.
- 该装置在物质上是灵活的 (E = O(1 MPa)) 以减少风险.
- 制造了一个由三个同轴元件组成的CoSMA (外径为4mm,1.5mm,0.4mm).
主要成果:
- 证明了多DoF导管的能力.
- 在临床前的MRI扫描仪中成功导航了大动脉门幻影.
- 科斯马利用MRI的磁场进行变形能量.
结论:
- 科斯马为先进的机器人导管注射提供了一个有前途的解决方案.
- 该系统在MRI环境中集成了主动方向盘和形状传感.
- 这项技术有可能减少与导管手术相关的风险.
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