发表机构
Hamlyn Centre for Robotic Surgery, Department of Mechanical Engineering, Imperial College London; Department of Metabolism, Digestion and Reproduction, Imperial College London; Department of Mechanical Engineering, Bursa Uludag University; Chair for Computer Aided Medical Procedures and Augmented Reality (CAMP), Technical University of Munich（伦敦帝国理工学院机械工程系机器人手术哈姆林中心; 伦敦帝国理工学院代谢、消化与生殖系; 布尔萨乌鲁达大学机械工程系; 慕尼黑工业大学计算机辅助医疗程序与增强现实主席）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对血管内动脉瘤修复中导管操作难题，提出定制两段式可转向导管及模块化肌腱驱动平台，利用热纤维拉伸和激光微加工制造，经模拟和体外实验评估，有望缩短手术时间，助力解决复杂临床病例。
AI 中文摘要
开窗/分支血管内动脉瘤修复（FEVAR/BEVAR）要求外科医生在部署支架移植物以减轻动脉瘤压力之前，将导管和导丝导航到腹主动脉的各个分支。先前临床研究表明，外科医生使用标准商业器械进行血管通路操作仍有困难，延长了手术时间并引发更多并发症。在这项工作中，我们对解决该问题有两项贡献：1）定制的两段式可转向导管，有4个自由度以增强灵活性。2）可扩展的模块化肌腱驱动致动平台，可适应系统中引入的冗余。制造导管时，我们利用热纤维拉伸技术大规模制造高纵横比装置，并通过激光微加工处理导管以软化其尖端。我们通过模拟评估系统，研究导管弯曲刚度，然后在血管模型中进行体外实验研究其可转向性。这种手持式机器人可转向导管系统有可能缩短未来血管内手术的时间，并为临床医生提供解决具有挑战性临床病例的工具。
英文摘要
Fenestrated/Branched endovascular aneurysm repair (FEVAR/BEVAR) require surgeons to navigate catheters and guidewires into various branches of the abdominal aorta, before deploying stent grafts to alleviate pressure on the aneurysm. Previous clinical studies suggests that surgeons continue to struggle with vessel access using standard commercial instruments, prolonging the procedural time and inducing further complications. In this work, we present two contributions to solving this problem: 1) A bespoke 2-segment steerable catheter, consisting of 4 degrees of freedom to enhance dexterity. 2) An expandable, modular tendon-driven actuation platform that can accommodate for the redundancies introduced in our system. To fabricate the catheter, we capitalized on thermal fiber drawing, a technique that creates high-aspect ratio devices at scale, and processed the catheter with laser micro-machining to soften its tip. We evaluated the system using simulations, where we investigated the catheter's bending stiffness, then its steerability with in-vitro experiments in vascular phantoms. This handheld, robotic steerable catheter system has the potential to shorten the length of future endovascular surgeries, and give clinicians the tools to resolve challenging clinical cases.
Comments8 pages, 8 figures
