Autonomous catheter insertion system using magnetic motion capture sensor for endovascular surgery
Autonomous catheter insertion system using magnetic motion capture sensor for endovascular surgery
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DOI：
10.1002/rcs.116
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发表时间：
2007-03-01
影响因子：
2.5
通讯作者：
Takahashi, I.
中科院分区：
文献类型：
--
作者：
Tercero, C.;Ikeda, S.;Takahashi, I.
背景为了在血管内手术中减少荧光镜的使用，需要开发自主的导管插入系统。方法我们提出了一种跟踪导管位置和速度的系统，该系统使用磁性运动捕捉传感器向导管驱动机构提供反馈，以在主要血管系统中执行自主导管插入。使用该系统在硅胶大血管模型内进行导管插入速度控制和路径重建实验，以模拟手术。结果该系统控制导管的速度为6.14 mm/S，在硅胶血管模型内再现了一条二维路径，误差小于7 mm。结论我们发现由于导管与模型壁之间的摩擦，速度控制的误差增加。路径重建误差取决于模型的横截面直径、导管插入机构的特性、磁传感器和系统制导技术。版权所有(C)2006 John Wiley&Sons，Ltd.
Background In order to reduce fluoroscope usage in endovascular surgery, there is a need to develop autonomous catheter insertion systems. Methods We propose a system for tracking the position and speed of a catheter using a magnetic motion capture sensor to provide feedback to a catheter-driving mechanism, to perform autonomous catheter insertion in major vasculature. Catheter insertion speed control and path reconstruction experiments were performed with the system inside a silicone model of major vasculature to simulate surgery. Results The system controlled the catheter for speeds of 6.14 mm/s and reproduced a two-dimensional path inside the silicone blood vessel phantom with less than 7 mm of error. Conclusions We found that error in speed control rises as a result of friction between the catheter and the model wall. Path reconstruction error depends on the model's cross-sectional diameter, the properties of the catheter insertion mechanism, the magnetic sensor and the system guidance technique. Copyright (C) 2006 John Wiley & Sons, Ltd.