Haptic Assisitive System for Heart Catheterizations

本课题的研究主题是用于医疗诊断和治疗中插管的力反馈触觉辅助系统的设计和实现。通过使用该辅助系统，便于导丝在冠状动脉中的导航。此外，还支持心脏病专家直观工作的可能性。该方法基于导丝尖端的力测量和处理过程中集成的触觉控制单元，其中力信号被按比例应用。申请人根据三年转让研究工作的结果提出的延续转让项目的请求，并得到副总干事的支持。本项目的目的是将已有的研究成果转化为力敏导丝的原型装配。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、制造了用于导航的体外测力传感器，并将其集成在心脏病专家的手机(扭力器)中。由于额外的力控制，这一计划外的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要求的合规性。请求额外的第4个项目年的主要原因是：1.由于芯片供应商的不可预测的技术问题，在准备所提议的芯片的过程中延迟了大约一年。2.导丝组件的重复性不足，特别是由于导丝中的送丝缺陷。结果是，在预定的血管模型触觉辅助系统测试中以及在专家的医学评估和在展会上的陈述中，没有足够的功能性导丝处理。消除已确定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.