本文選題：血管介入手術(shù) + 遙操作�。� 參考：《天津理工大學(xué)》2017年碩士論文

【摘要】：近些年來(lái),全球每年患心腦血管疾病將近1700萬(wàn)人,已經(jīng)成為威脅人類生命健康的頭號(hào)殺手。隨著科學(xué)技術(shù)的發(fā)展,治療手段也在逐步提升,但依然存在一些問(wèn)題,比如醫(yī)生在操作過(guò)程中無(wú)法避免的受到X光的輻射等,主從操作的介入手術(shù)機(jī)器人得到了廣泛的應(yīng)用,解決了一些傳統(tǒng)手術(shù)存在的問(wèn)題,但目前已有的血管介入手術(shù)機(jī)器人系統(tǒng)存在力反饋系統(tǒng)結(jié)構(gòu)復(fù)雜、穩(wěn)定性差的問(wèn)題,因此,本文設(shè)計(jì)了一種新型的基于力反饋的血管介入手術(shù)機(jī)器人系統(tǒng)的主端操作系統(tǒng),并對(duì)其進(jìn)行了評(píng)估。針對(duì)現(xiàn)階段已有的血管介入手術(shù)機(jī)器人系統(tǒng)力反饋檢測(cè)系統(tǒng)誤差大的問(wèn)題,本文提出了一種新型血管介入手術(shù)機(jī)器人輔助系統(tǒng)的主端操作器,本研究是基于電磁感應(yīng)原理設(shè)計(jì)的一種新型主端力反饋系統(tǒng),將電磁力作為從端導(dǎo)管在血管中的碰撞力傳遞給醫(yī)生的手。除此之外,醫(yī)生在操作過(guò)程中操作一根實(shí)際手術(shù)中用到的真實(shí)導(dǎo)管,它能夠通過(guò)主側(cè)的手術(shù)導(dǎo)管將從操作器檢測(cè)到的手術(shù)導(dǎo)管所受阻力反饋到醫(yī)生手上,提供給醫(yī)生一種觸覺(jué)臨場(chǎng)感,有利于提高手術(shù)安全性。而且能充分利用在傳統(tǒng)血管介入手術(shù)中的經(jīng)驗(yàn)進(jìn)行操作,以防因觸覺(jué)差異而產(chǎn)生誤差。針對(duì)操作系統(tǒng)軸向運(yùn)動(dòng)信息由直線位移傳感器測(cè)量精度不夠的問(wèn)題,本文提出了用光電編碼器代替直線位移傳感器測(cè)量運(yùn)動(dòng)信息,再用正交解碼芯片形成四倍頻,將光電編碼器的旋轉(zhuǎn)角度轉(zhuǎn)換為前進(jìn)后退的位移,再利用數(shù)碼管將位移信息直觀地顯示給醫(yī)生。本系統(tǒng)的從端操作器是整個(gè)手術(shù)過(guò)程中實(shí)際送導(dǎo)管的一端。導(dǎo)管的尖端及側(cè)壁都裝有力檢測(cè)傳感器,再傳到醫(yī)生的手,感應(yīng)從端的受力情況。本文提出了一種新型基于力反饋的血管介入手術(shù)機(jī)器人系統(tǒng)的主端操作器的設(shè)計(jì)與研究,并對(duì)整個(gè)系統(tǒng)進(jìn)行力反饋系統(tǒng)的評(píng)估及驗(yàn)證,得到力反饋?zhàn)畲笳`差小于6mN;最后測(cè)試新主從操作系統(tǒng)主從追蹤的穩(wěn)定性,評(píng)估整個(gè)新系統(tǒng)性能,得到軸向追蹤系統(tǒng)最大誤差小于1.6 mm,徑向追蹤系統(tǒng)最大誤差小于3.6°,說(shuō)明主從端同步跟隨性能較為穩(wěn)定。
[Abstract]:In recent years, nearly 17 million people worldwide suffer from cardiovascular and cerebrovascular diseases every year, which has become the leading killer of human life and health. With the development of science and technology, the treatment methods are also gradually improved, but there are still some problems, such as the doctors can not avoid the X-rays radiation in the operation, the master-slave interventional surgery robot has been widely used. Some problems existed in traditional surgery have been solved, but the existing vascular interventional surgery robot system has the problems of complex structure of force feedback system and poor stability. In this paper, a new main operating system of vascular interventional robot system based on force feedback is designed and evaluated. In order to solve the problem of large error in the force feedback detection system of vascular interventional robot system, this paper presents a new type of main end manipulator for the assistant system of vascular interventional surgery robot. Based on the principle of electromagnetic induction, a new feedback system of main force is designed in this paper. The electromagnetic force is transferred to the doctor's hand as the collision force from the end catheter in the blood vessel. In addition, the doctor operates a real catheter that is used in the actual operation, which can feed back to the doctor's hand the resistance from the surgical catheter detected by the operator through the main side of the catheter. To provide doctors with a sense of tactile telepresence, is conducive to improve the safety of surgery. And it can make full use of the experience in traditional vascular interventional surgery to prevent errors caused by tactile differences. In order to solve the problem that the measurement accuracy of the axial motion information of the operating system is not enough by the linear displacement sensor, this paper proposes that the photoelectric encoder is used instead of the linear displacement sensor to measure the motion information, and then the quadrature decode chip is used to form the four times frequency. The rotation angle of the photoelectric encoder is converted into the forward and backward displacement and the displacement information is displayed intuitively to the doctor by using the digital tube. The slave operator of the system is one end of the actual delivery catheter during the whole operation. The tip and side walls of the catheter are fitted with force sensors, which are passed to the doctor's hand to sense the force from the end. This paper presents the design and research of a new type of force feedback based primary manipulator for vascular interventional robot system, and evaluates and verifies the force feedback system of the whole system. The maximum error of force feedback is less than 6 mn. Finally, the stability of master-slave tracking of the new master-slave operating system is tested, and the performance of the whole new system is evaluated. The maximum error of the axial tracking system is less than 1.6 mm and the maximum error of the radial tracking system is less than 3.6 擄, which indicates that the synchronization performance of the master-slave end is stable.
【學(xué)位授予單位】：天津理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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