DESIGN AND FABRICATION OF A SOFT PARALLEL ROBOT FOR TRANSCATHETER INTERVENTIONS

用于经导管干预的软并联机器人的设计和制造

• 批准号: 10439264
• 负责人: Amir Ali Amiri Moghadam
• 金额: $ 36.42万
• 依托单位: KENNESAW STATE UNIVERSITY
• 依托单位国家: 美国
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-04-01 至 2025-03-31
• 项目状态: 未结题
• 来源: https://reporter.nih.gov/project-details/10439264
• 关键词: 3-Dimensional; Ablation; Address; American; Anesthesia procedures; Area; Arteries; Atrial Fibrillation; Cardiac; Cardiac Surgery procedures; Cardiovascular system; Catheters; Cause of Death; Cessation of life; Chest; Chronic Disease; Clinical; Complex; Development; Devices; Diabetes Mellitus; Diagnosis; Echocardiography; Environment; Environmental Wind; Family; Freedom; Geometry; Goals; Hand; Heart; Heart Diseases; Heart Valves; Heart failure; Hospitals; Imaging technology; Intervention; Intuition; Joints; Joystick; Leg; Length of Stay; Life; Literature; Manuals; Measures; Methods; Mitral Valve Prolapse; Monitor; Motion; Operative Surgical Procedures; Patients; Persons; Polymers; Positioning Attribute; Procedures; Recovery; Reporting; Robot; Robotics; Shapes; Slave; Societies; Structure; Surgeon; Surgical incisions; System; Techniques; Technology; Tendon structure; Testing; Thinness; Time; Torsion; Training; Tube; Twin Multiple Birth; United States; Veins; Work; arm; design; high risk; implantation; improved functioning; infection risk; innovation; interest; minimally invasive; novel; older patient; repaired; rib bone structure; robot assistance; robot control; robotic system; sensor

ABSTRACT The overall objective of this proposal is to develop a six degrees of freedom (DOF) transcatheter soft parallel robot for cardiac intervention. Cardiac disease contributes to death of about 655,000 Americans each year. Minimally invasive robot-assisted (MIRA) procedures can revolutionize the treatment of cardiac disease. As compared to open heart surgery, MIRA procedures can dramatically minimize the recovery time, risk of infection, and average length of stay in hospital. Moreover, open heart surgery is a high-risk option for many elderly patients and people with diabetes. Robotic catheter technology has the potential to be applied for several transcatheter interventions such as intracardiac echocardiography (ICE), atrial fibrillation ablation, and repair of mitral valve prolapse. However, achieving these goals requires advancements in both imaging technology and robotic catheter systems. To develop this novel transcatheter robot we propose the following specific aims: Aim 1: Design and fabrication of a six DOF reconfigurable soft parallel robot to fit inside the existing catheters. The soft parallel robot is inspired from the structure of a three Universal-Spherical-Revolute (3USR) parallel robot. The 3USR parallel robot has six DOF and can be used for precision surgery procedures. However, this mechanism has a rigid structure and cannot be squeezed to be fitted inside a catheter and delivered inside the heart. To solve this issue, the rigid structure of the 3USR robot will be transformed into a soft and reconfigurable structure that can be fitted inside a catheter using the soft robotics technology. Aim 2: Development of an intuitive mechanism for position control of the robot. The manual joint space control knobs in the existing character systems are not intuitive and require extensive training for the surgeons to understand the required knob adjustments to navigate the catheter tip. To address this issue, we develop a master/slave system using a twin Stewart mechanism as a special joystick with 6 DOF. This is advantageous because the robot’s motion would be very intuitive, and the surgeon can control the robot end- effector just by one hand. Consequently, as the surgeon moves or rotates the joystick in any given position or orientation the robot follows that accordingly. While the existing steerable catheter technology is a made of a single tube, our proposed innovative design has a new geometry of a soft parallel robot, which can address the shortcoming of the existing technology. Upon successful completion of this project, the heart surgeons will have access to a novel efficient device to plan and study new procedures for transcatheter heart surgery. Heart failure is a chronic disease, causing disruption to the lives of sufferers and their families. Developing this new device can reduce the impact of heart failure on the lives of the patient and those around them, and it helps to lengthen life and promote a healthy society.

摘要 本提案的总体目标是开发一种六自由度（DOF）经导管软平行 心脏介入机器人心脏病每年导致大约655，000美国人死亡。 微创机器人辅助（MIRA）手术可以彻底改变心脏病的治疗。作为 与心内直视手术相比，MIRA手术可以显著减少恢复时间，感染风险， 平均住院时间。此外，心脏直视手术对许多老年人来说是一种高风险的选择 患者和糖尿病患者。机器人导管技术有可能应用于几个领域。 经导管介入治疗，如心内超声心动图（ICE）、房颤消融和 二尖瓣脱垂然而，实现这些目标需要成像技术和 机器人导管系统为了开发这种新型的经导管机器人，我们提出了以下具体目标： 目标1：设计和制造一个六自由度可重构软并联机器人，以适应现有的 导尿管柔性并联机器人的设计灵感来自于三万向球铰（3USR）结构 并联机器人3USR并联机器人具有六个自由度，可用于精密手术程序。但是，在这方面， 该机构具有刚性结构 心脏为了解决这个问题，3USR机器人的刚性结构将被改造成一个柔软的， 可重新配置的结构，可以使用软机器人技术安装在导管内。 目标2：开发一种直观的机器人位置控制机制。手动关节 现有字符系统中的空间控制旋钮不是直观的 外科医生了解导航导管头端所需的旋钮调整。为了解决这个问题，我们 开发了一种采用双Stewart机构作为六自由度特殊操纵杆的主从系统。这是 这是有利的，因为机器人的运动将是非常直观的，并且外科医生可以控制机器人端部， 一只手的作用。因此，当外科医生在任何给定位置移动或旋转操纵杆时， 机器人相应地遵循该方向。 虽然现有的可操纵导管技术是由单个管制成的，但我们提出的创新性导管技术是由单个管制成的。 设计了一种具有新几何形状的柔性并联机器人，可以解决现有技术的不足。 成功完成该项目后，心脏外科医生将获得一种新型高效设备， 计划和研究经导管心脏手术的新程序。心力衰竭是一种慢性疾病， 对受害者及其家人的生活造成破坏。开发这种新设备可以减少心脏的影响 失败对病人和他们周围的人的生活，它有助于延长寿命，促进健康 社会

项目成果

Toward Development of Novel Remote Ultrasound Robotic System Using Soft Robotics Technology.

利用软机器人技术开发新型远程超声机器人系统。

• DOI: 10.1115/1.4063469
• 发表时间: 2024
• 期刊: Journal of engineering and science in medical diagnostics and therapy
• 作者: Papendorp,Sky;Ovando,Ammy;Gharaie,Saleh;Mosadegh,Bobak;Guerra-Zubiaga,David;Alaie,Seyedhamidreza;Ashuri,Turaj;AmiriMoghadam,AmirAli
• 通讯作者: AmiriMoghadam,AmirAli