Miniaturized Robotic End-Effector with Piezoelectric Actuation and Fiber Optic Sensing for Minimally Invasive Cardiac Procedures.
Miniaturized Robotic End-Effector with Piezoelectric Actuation and Fiber Optic Sensing for Minimally Invasive Cardiac Procedures.
复制标题
具有压电驱动和光纤传感功能的小型机器人末端执行器，适用于微创心脏手术。
DOI：
10.1109/jsen.2018.2828940
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发表时间：
2018
影响因子：
4.3
通讯作者：
Park,Yong-Lae
中科院分区：
文献类型：
--
作者：
Aranda-Michel,Edgar;Yi,Jaehyun;Wirekoh,Jackson;Kumar,Nitish;Riviere,CameronN;Schwartzman,DavidS;Park,Yong-Lae
每年有35000例心脏消融手术通过导管系统治疗心房颤动。这种治疗的成功率高度依赖于导管施加在心壁上的力。如果施加力的大小远远高于某个阈值，则组织穿孔，而如果施加力低于该阈值，则病变大小可能过大且不一致。此外，研究表明训练有素的医生在治疗过程中施加力的差异很大，这表明尽管可能存在患者特异性差异，但医生无法手动调节治疗部位的施加力水平。目前的导管系统不能为医生提供主动的接触力控制手段，最多只能通过原位测量力的视觉反馈来辅助。本文讨论了一种新颖的机器人末端执行器的设计，该设计将传感和主动控制施加的力的机构集成到一个小型化的紧凑形式中。设计和集成所需的规范来自正在研究的当前应用程序。选择了一种现成的微型压电电机作为驱动，并开发了一种满足规格要求的力传感解决方案。在集成设置中的致动器和力传感器的实验特性显示符合规范，并为未来的实验铺平了道路，在实验中，系统的闭环控制可以根据应用的接触力控制策略实施。
Each year 35 000 cardiac ablation procedures are performed to treat atrial fibrillation through the use of catheter systems. The success rate of this treatment is highly dependent on the force which the catheter applies on the heart wall. If the magnitude of the applied force is much higher than a certain threshold the tissue perforates, whereas if the force is lower than this threshold the lesion size may be too large and is inconsistent. Furthermore, studies have shown large variability in the applied force from trained physicians during treatment, suggesting that although there might be patient-specific differences, physicians are unable to manually regulate the levels of the force at the site of treatment. Current catheter systems do not provide the physicians with active means for contact force control and are only at most aided by visual feedback of the forces measured in situ. This paper discusses a novel design of a robotic end-effector that integrates mechanisms of sensing and actively controlling of the applied forces into a miniaturized compact form. The required specifications for design and integration were derived from the current application under investigation. An off-the-shelf miniature piezoelectric motor was chosen for actuation, and a force sensing solution was developed to meet the specifications. Experimental characterization of the actuator and the force sensor within the integrated setup show compliance with the specifications and pave the way for future experimentation where closed-loop control of the system can be implemented according to the contact force control strategies for the application.