一种绳驱动主动介入导管研究  

Study on a cable-driven interventional active catheter

作　　者：陈柏[1,2] 张健[2] 陈笋[3] 黄震[2] 

机构地区：[1]机器人技术与系统国家重点实验室,哈尔滨150080 [2]南京航空航天大学江苏省精密与微细制造技术重点实验室,南京210016 [3]上海交通大学医学院附属新华医院,上海200092

出　　处：《仪器仪表学报》2012年第11期2466-2472,共7页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(51075209);江苏省自然科学基金(BK2012798);江苏省产学研联合创新资金-前瞻性联合研究项目(BY2012011);上海市科委基金(08411960700);机器人技术与系统国家重点实验室开放基金;江苏省高校优势学科建设工程资助项目

摘　　要：针对现有介入导管能动性差、操作困难、盲区多的问题,提出了一种驱动模块外置的绳驱动主动弯曲导管设计方案,制作了主动导管样机。利用D-H参数法及几何分析法建立了导管主动弯曲头端通用正反运动学模型,分析了连续弯曲头端各个关节的工作空间,并对主动导管通过岔口的过程进行仿真分析。基于仿真分析结果,对主动导管原型样机通过岔口的过程进行实验,结果表明,该导管能依预期实现位姿调整并顺利通过岔口。表明所提出的导管主动位姿控制方案可行,数学模型正确。Aiming at the poor activity,operation difficulty and mass blind area of traditional mterventional cameters, a new cable-driven interventional active catheter with external driving module was proposed. A prototype of active catheter was manufactured. D-H parameter method and analytic geometrical method are used to establish the general forward and inverse kinematic models of the active catheter head. According the mathematical models, the workspace of the joints of the catheter head was analyzed, and the process of active catheter passing through fork was simulated. Based on the simulation analysis results, the experiments about the prototype of the catheter passing through fork were carried out. The experiment results show that the position and orientation of this active catheter can be adjusted expectedly and efficiently,and the catheter can pass through fork successfully ,which means the proposed design scheme of the active catheter position and orientation control is feasible, and the mathematical model of the active catheter is correct.

关 键 词：主动导管 绳驱动 介入诊疗 运动学 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH77[自动化与计算机技术—控制科学与工程]