Characterization of Catheter Dynamics During Percutaneous Transluminal Catheter Procedures
Characterization of Catheter Dynamics During Percutaneous Transluminal Catheter Procedures
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DOI：
10.1109/tbme.2008.921148
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发表时间：
2009-08-01
影响因子：
4.6
通讯作者：
Drangova, Maria
中科院分区：
文献类型：
--
作者：
Thakur, Yogesh;Holdsworth, David W.;Drangova, Maria
正在开发远程导管导航系统，以降低介入医生的职业风险。尽管这类系统取得了成功，但在对干预者应用的导管动力学基本了解不多的情况下进行了开发。本文描述了导管在操作过程中的运动学特征，介入过程中的最小作用力/扭矩，以及操作者为克服血管摩擦而施加的最大作用力/扭矩。10名操作员在专门的导管运动传感器内操纵6F导管，以确定导管运动的速度和加速度。构建了一个质量弹簧装置来测量克服导管鞘和血管摩擦所需的力和扭矩。结果显示，导管的轴向和径向运动的峰值速度和加速度分别为360+/-180 mm·s(-1)和22200+/-14000 mm·s(-2)，19+/-7ra.s(-1)和900+/-510ra.s(-2)。最小的力为0.29+/-0.06 N，扭矩为1.15+/-0.3 mN.m才能使导管穿过导管鞘，而观察到的最大扭矩为15 mN.m以克服血管摩擦。这些结果对未来直观的远程导管导航系统的设计优化具有重要意义。
Remote catheter navigation systems are being developed to reduce the occupational risk of the intervening physician. Despite the success of such systems, development has occurred with little fundamental knowledge of the catheter dynamics applied by the interventionalist. This paper characterizes the kinematics of a catheter during manipulation, the minimum applied force/torque during interventional procedures, and the maximum force/torque applied by an operator to overcome vasculature friction. Ten operators manipulated a 6F catheter inside a specialized catheter movement sensor to determine the velocities and accelerations of catheter motion. A mass- spring apparatus was constructed to measure the forces and torques required to overcome introducer sheath and vasculature friction. Results showed the catheter wasmanipulated at peak velocities and accelerations of (mu +/- sigma) : 360 +/- 180 mm.s(-1) and 22200 +/- 14000 mm.s(-2), and 19 +/- 7 rad.s(-1) and 900 +/- 510 rad.s(-2), for axial and radial directions of motion, respectively. A minimum force of 0.29 +/- 0.06 N and a torque of 1.15 +/- 0.3 mN.m was required to move the catheter through the introducer sheath; while the observed maximum applied torque was 15 mN.m to overcome vasculature friction. The implications of these results for future design optimization of an intuitive remote catheter navigation system are considered.