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

多功能微导管远程手术系统，减轻患者和医生负担

• 批准号: 13555074
• 负责人: FUKUDA Toshio
• 金额: $ 8.58万
• 依托单位: Nagoya University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-13555074/
• 关键词: Catheter; Tele-operation; Master Slave System; Contact Sensor; Piezoelectric Thin Film; Microsensor; Minimum Invasive Surgery; Medical Robot; スレーブ装置; 触覚センサ; マイクロセンサ; 低浸襲医療; 水熱合成法; 遠隔医療

(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.

(1)主从系统我们开发了一个从设备，以远程控制导管和导丝独立。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。我们提出了一个线性驱动机构的向前和向后驱动使用的例子，从自动铅笔机构。与传统的滚轮机构相比，提高了安全性。此外，简化了用于旋转的布线。通过单次敲击对导管的移动进行电子调节。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，并且位置精度大大提高。我们还连接了释放导管的安全机制。当导管直径发生变化时，我们会适当更换机械紧固件。与导管接触的部分容易分离。可通过更换紧固件进行灭菌操作。(2)微型接触式传感器我们研制了一种直径为1 mm的微型接触式传感器，可安装在导管尖端。该传感器由压电薄膜致动器以谐振频率激励。当其与物体接触时，机械阻抗发生变化，并且通过压电薄膜的传感功能检测该变化。采用水热法在钛基片上沉积薄膜。我们成功地检测接触状态的基础上的阻抗变化之前和之后接触。(3)远程医疗系统我们开发的远程操作系统使用主设备和从设备。用硅橡胶制作了一个透明的带内孔的血管模型。我们用这个模型模拟血管内神经外科手术，并评估所提出的系统。导管到达目标位置，我们证实了申报系统的有效性。