AI 中文总结
针对血管内介入中手动导丝导航难题，开发用于肌腱驱动机器人导丝的手持式驱动机构，集成紧凑卷轴机制，可电动与手动结合操作，能执行多种动作，在模拟主动脉模型中得到验证。
AI 中文摘要
血管内介入始于熟练的临床医生手动将一根细长的导丝导航到脉管系统内的目标位置。由于血管曲折和导丝尖端缺乏可操纵性等因素，手动导航导丝具有挑战性，可能导致血管损伤、穿孔、剥离和闭塞，以及术后并发症如血栓形成。这项工作详细介绍了一种利用上述卷轴机制开发的用于肌腱驱动的机器人导丝的手持式驱动机构。将紧凑的卷轴机制集成到手持设备中，使临床医生能够根据需要利用电动导丝转向以及手动旋转和平移。所提出的设备设计成，临床医生握住设备时，可以使用手柄上的操纵杆和瞬时开关对长达1.5米的机器人可操纵导丝执行进给、旋转和弯曲动作。此外，通过在解剖学精确的模拟主动脉模型中的导航展示了所提出的设备。
英文摘要
An endovascular intervention begins with a skilled clinician manually navigating a long, slender wire, called a guidewire, to the target location within the vasculature. Due to factors, such as vessel tortuosity and lack of steerability at the guidewire tip, manual navigation of a guidewire could be challenging, potentially resulting in vessel damage, perforation, dissection, and occlusion, as well as postsurgical complications, such as thrombosis. This work details the development of a handheld actuation mechanism for tendon-driven robotic guidewires by utilizing the aforementioned spooling mechanism. Incorporating the compact spooling mechanism into a handheld device enables clinicians to leverage both motorized guidewire steering and manual rotation and translation, if desired. The proposed device is designed such that, while holding the device, the clinician can execute feeding, rotation, and bending motions for up to 1.5 m of the robotically steerable guidewire using a joystick and momentary switch on the handle. Furthermore, the proposed device is demonstrated through navigation in an anatomically accurate phantom aorta model.
Journal refHamlyn Symposium on Medical Robotics 2026
