本文選題：血管介入治療 + 導(dǎo)管驅(qū)動(dòng)機(jī)構(gòu)��； 參考：《機(jī)械設(shè)計(jì)與研究》2016年02期

【摘要】：血管介入治療機(jī)器人能有效地保護(hù)醫(yī)生免遭受X射線的輻射,依據(jù)血管介入治療過(guò)程中導(dǎo)管的運(yùn)動(dòng)需求,設(shè)計(jì)了一款新的血管介入治療導(dǎo)管驅(qū)動(dòng)機(jī)構(gòu)。該機(jī)構(gòu)采用絲桿和直線導(dǎo)軌的驅(qū)動(dòng)方式并帶有六維力和扭矩傳感器,能實(shí)時(shí)地檢測(cè)導(dǎo)管在末端處受到的力和扭矩反饋。此外,在橡膠血管模型中進(jìn)行了血管介入治療模擬實(shí)驗(yàn),并分析了在模擬實(shí)驗(yàn)過(guò)程中力和扭矩的反饋信息變化的原因。
[Abstract]:Vascular interventional therapy robot can effectively protect doctors from X-ray radiation. According to the need of catheter movement during vascular interventional therapy, a new vascular interventional therapy catheter driving mechanism is designed. The mechanism adopts the driving mode of wire rod and linear guideway and has six dimensional force and torque sensors, which can detect the force and torque feedback at the end of the tube in real time. In addition, a simulation experiment of vascular interventional therapy was carried out in a rubber vascular model, and the reasons for the change of feedback information of force and torque during the simulated experiment were analyzed.
【作者單位】： 上海交通大學(xué)材料學(xué)院塑性成形及裝備研究院;上海交通大學(xué)數(shù)字醫(yī)療臨床轉(zhuǎn)化教育部工程研究中心;
【基金】：國(guó)家863計(jì)劃資助項(xiàng)目(2015AA043203 2006AA01Z3102009AA01Z313) 國(guó)家自然基金重大資助項(xiàng)目(6119012461190120) 上海市科委資助項(xiàng)目(14441900800 14DZ194110014DZ1941103 13DZ0511000) 國(guó)家支撐計(jì)劃課題(2009BAI71B06) 國(guó)家自然科學(xué)基金項(xiàng)目(61311140171 60873131) 上海交通大學(xué)醫(yī)工交叉項(xiàng)目(YJ2013ZD03 YG2012MS54)
【分類號(hào)】：TH789;TP242
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本文編號(hào)：2025440