Haptic Assisitive System for Heart Catheterizations

本研究项目的主题是设计和实现一种用于医学诊断和治疗导管的力反馈触觉辅助系统。通过使用该辅助系统，可以方便地在冠状血管中导航导丝。此外，心脏病专家的直觉工作的可能性是支持的。该方法基于导丝尖端的力测量和在处理过程中集成的触觉控制单元，其中力信号被缩放应用。根据申请人三年转移研究工作的结果要求继续进行转移项目，并得到补助金的支持。本课题的目的是完成研究成果的转移和力传感导丝的原型组装。研制了一种具有一个平移自由度的小型化触觉控制单元。此外，还设计、制造了一种用于导航的体外力传感器，并将其集成到心脏科医生的手机（Torquer）中。由于额外的力控制，触觉反馈的质量可以显著提高。对触觉辅助系统的第一个样本进行了表征，并验证了其符合要求。要求增加第4个项目年的主要原因是：1。由于芯片供应商存在不可预测的技术问题，芯片的准备工作大约会延迟一年。2. 导丝组件的再现性不足，特别是由于导丝的送丝缺陷。结果，在血管模型触觉辅助系统的预期测试中，以及在专家的医疗评估和展会上的展示中，没有足够的功能导丝处理。消除已查明的赤字是所要求的第四年的重点。

The subject of the research project is the design and implementation of a force-feedback haptic assistance system for catheterization in medical diagnostics and therapy. By using this assistance system, the navigation of a guide wire in the coronary vessels is facilitated. Furthermore, the possibility of intuitive working by the cardiologist is supported. The approach is based on both a force measurement at the guide wire tip and a haptic control unit integrated in the treatment process, in which the force signals are scaled applied. The requested continuation of the transfer project based on the results of the three years transfer research work by the applicant which is supported by the DFG. The aim of this project was the transfer of the achieved research results and the prototype assembling of the force sensing guide wire. A miniaturized tactile control unit having one translational degree of freedom was developed. In addition, an extracorporeal force sensor for navigation was designed, built and integrated in the handpiece (Torquer) of cardiologist. The quality of the haptic feedback could be significantly increased due to this unplanned by the additional force control. A first sample of the haptic assistant system was characterized and the requirements compliance verified.The main reasons for requesting an additional 4th project year are: 1. Time delays of approximately one year in the preparation of the proposed chip simples by unpredictable technological problems at the chip providers. 2. Insufficient reproducibility in the guide wire assembly in particular through deficits in the wire feeding in the guide wire.As a result were not enough functional guide wires disposal at the intended test of the haptic assistance system of the vessel model, as well as at the medical assessment by expert and presentation at fairs. The elimination of the identified deficits is the focus of the requested 4th year.