心腔内超声心动图零松弛可分离机械手的设计与验证
Design and validation of zero-slack separable manipulator for Intracardiac Echocardiography
摘要：
临床医生需要大量培训和经验，才能熟练掌握心内超声心动图（ICE）导管的转向，以定位和测量治疗区域，从而在另一个入路中展开器械导管时观察并发症。因此，用于保持和主动操纵ICE导管的机器人辅助系统可以减轻医生的工作量是合理的。现有的市售机器人系统和研究原型都使用基于多腱鞘机制（TSM）的现有市售ICE导管。为了使现有的基于TSM的ICE导管机动化，致动器与外部手柄旋钮连接以操纵四个内部肌腱。然而，在实践中，致动器位于远离ICE手柄的无菌、安全的地方。因此，为了与旋钮接合，在两者之间存在多个耦合齿轮结构，导致TSM中的滞后现象旁边的高度非线性行为（例如，各种松弛、弹性）。由于ICE导管设计为一次性使用，因此昂贵的致动器需要位于安全的位置，以便可重复使用。此外，这些致动器应尽可能直接地与肌腱连接，以实现精确的尖端控制。在本文中，我们介绍了一个可分离的ICE导管机器人与四肌腱驱动：一部分可重复使用，另一个一次性的。此外，我们提出了一个实用的模型和校准方法，我们提出的机制，使四个肌腱同时驱动，允许精确的尖端控制和缓解问题，如传统的设备，死区和滞后简单的线性补偿。我们考虑开环控制器，因为由于成本和一次性使用，许多可用的ICE导管在尖端没有位置跟踪传感器
英文摘要：
Clinicians require substantial training and experience to become comfortable with steering Intracardiac echocardiography (ICE) catheter to localize and measure the area of treatment to watch for complications while device catheters are deployed in another access. Thus, it is reasonable that a robotic-assist system to hold and actively manipulate the ICE catheter could ease the workload of the physician. Existing commercially-available robotic systems and research prototypes all use existing commercially available ICE catheters based on multiple tendon-sheath mechanism (TSM). To motorize the existing TSM-based ICE catheter, the actuators interface with the outer handle knobs to manipulate four internal tendons. However, in practice, the actuators are located at a sterile, safe place far away from the ICE handle. Thus, to interface with knobs, there exist multiple coupled gear structures between two, leading to a highly nonlinear behavior (e.g. various slack, elasticity) alongside hysteresis phenomena in TSM. Since ICE catheters are designed for single use, the expensive actuators need to be located in a safe place so as to be reusable. Moreover, these actuators should interface as directly as possible with the tendons for accurate tip controls. In this paper, we introduce a separable ICE catheter robot with four tendon actuation: one part reusable and another disposable. Moreover, we propose a practical model and calibration method for our proposed mechanism so that four tendons are actuated simultaneously allowing for precise tip control and mitigating issues with conventional devices such as dead-zone and hysteresis with simple linear compensation. We consider an open-loop controller since many available ICE catheters are used without position-tracking sensors at the tip due to costs and single use
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