Multifunctional Micro Catheter Tele-operation System for Reduction of Burden of Patients and Doctors

(1)主从系统我们开发了一个独立远程操作导管和导丝的从装置。它有两个自由度，即一个用于向前和向后运动，一个用于旋转。我们以机械铅笔机构为例，提出了一种用于向前和向后驱动的线性驱动机构。与传统滚轮机构相比，提高了安全性。此外，旋转布线也简化了。通过一次敲击来调整导管的运动是电子的。向前运动或向后运动由计算机控制选择。在两个方向上的最小步长分辨率为0.1 mm，大大提高了定位精度。我们还附加了安全机构来释放导管。当导管直径发生变化时，我们适当更换机械紧固件。与导管接触的部分容易分离。更换紧固件即可进行灭菌操作。(2)微接触传感器我们研制了一种直径为1mm的微接触传感器，可以设置在导管的尖端。该传感器由压电薄膜作动器以谐振频率激励。当它与物体接触时，机械阻抗发生变化，这种变化通过压电薄膜的传感功能来检测。采用水热法将薄膜沉积在钛基板上。我们成功地通过接触前后的阻抗变化来检测接触状态。(3)远程操作医疗系统我们采用主从设备研制了远程操作系统。我们用硅胶弹性体制作了带有内孔的透明血管模型。我们用该模型模拟了血管内神经外科手术，并对该系统进行了评估。导管到达目标位置，我们证实了所提出系统的有效性。

(1) Master Slave SystemWe developed a slave device to teleoperate the catheter and guide wire independently. It has two degree-of-freedom, that is, one for forward and backward motion and one for rotation. We proposed a linear drive mechanism for forward and backward drive using examples from the mechanical pencil mechanism. Compared with the conventional roller mechanism, safety is improved. Moreover, wiring for rotation is simplified. Movement of the catheter by a single knock is adjusted electronically. Forward motion or backward motion is selected by the computer control. The minimum step resolution is 0.1 mm in both directions and position accuracy is greatly improved. We also attached the safety mechanism to release the catheter. When the diameter of the catheter changes, we change the mechanical fastener appropriately. The part which contacts with the catheter is detached easily. Sterilization operation is possible by changing the fastener.(2) Micro Contact SensorWe developed a micro contact sensor of 1 mm diameter which can be set at the tip of catheter. This sensor is excited with the resonant frequency by the piezoelectric thin film actuator. When it contacts with the object, mechanical impedance is changed, and the change is detected by the sensing function of the piezoelectric thin film. The film is deposited on the titanium substrate by the hydro thermal method. We succeeded in detection of contact state based on the impedance change before and after contact.(3) Teleoperated Medical SystemWe developed the teleoperation system using a master and slave devices. We fabricated a transparent blood vessel model with inner hole with the silicone elastomer. We simulated intravascular neurosurgery with this model and evaluated the proposed system. The catheter reached the goal position and we confirmed effectiveness of the proposed system.