Simultaneous Shape and Tip Force Sensing for the COAST Guidewire Robot.
Simultaneous Shape and Tip Force Sensing for the COAST Guidewire Robot.
复制标题
COAST Guidewire 机器人的同时形状和尖端力传感。
DOI：
10.1109/lra.2023.3267008
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发表时间：
2023
影响因子：
5.2
通讯作者：
Desai,JaydevP
中科院分区：
文献类型：
--
作者：
Deaton,NancyJ;Brumfiel,TimothyA;Sarma,Achraj;Desai,JaydevP
在微创心血管手术中放置导管之前，先用导丝导航至靶病变。在没有精确头端控制的情况下，穿过曲折的血管通路可能具有挑战性，可能导致血管损伤或穿孔。为了提高导丝导航，这封信提出了三维形状重建和尖端力传感的同轴对准STEeerable（COAST）导丝机器人使用三重粘附单芯光纤布拉格光栅传感器路由中心通过机器人的细长结构。此外，比较了几种形状重建算法，并利用形状测量来实现尖端力感测。在自由空气中展示了机器人的能力，其中机器人的形状在导丝尖端处以小于2 mm的平均误差重建，并且施加到尖端的力的大小以0.027 N或更小的RMSE估计。
Placement of catheters in minimally invasive cardiovascular procedures is preceded by navigating to the target lesion with a guidewire. Traversing through tortuous vascular pathways can be challenging without precise tip control, potentially resulting in the damage or perforation of blood vessels. To improve guidewire navigation, this letter presents 3D shape reconstruction and tip force sensing for theCOaxiallyAlignedSTeerable (COAST) guidewire robot using a triplet of adhered single core fiber Bragg grating sensors routed centrally through the robot's slender structure. Additionally, several shape reconstruction algorithms are compared, and shape measurements are utilized to enable tip force sensing. Demonstration of the capabilities of the robot is shown in free air where the shape of the robot is reconstructed with average errors less than 2 mm at the guidewire tip, and the magnitudes of forces applied to the tip are estimated with an RMSE of 0.027 N or less.