基于回转夹持递送的导管摩擦驱动研究  

Catheter Friction Drive Based on Rotary Clamp Delivery

作　　者：任宝珍 赵岩 张建华 张建军[1] REN Baozhen;ZHAO Yan;ZHANG Jianhua;ZHANG Jianjun(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300400;School of Mechanical Engineering,University of Science and Technology Beijing,Beijing 100083)

机构地区：[1]河北工业大学机械工程学院,天津300400 [2]北京科技大学机械工程学院,北京100083

出　　处：《机械工程学报》2024年第17期80-90,共11页Journal of Mechanical Engineering

基　　金：国家自然科学基金(62003128);天津市自然科学基金(20JCYBJC00610);河北省自然科学基金(F2020202053)资助项目。

摘　　要：针对血管介入机器人中超长径比柔性导管的大行程高效递送操作问题,提出一种回转夹持连续递送的导管驱动模块,兼具卡爪结构可靠夹持与滚轮摩擦结构连续递送的优势。从微观角度分析回转夹持结构与导管之间的摩擦机制,得出接触面积、法向载荷、摩擦力的计算公式,从宏观角度分析导管径向夹紧变形量与法向载荷、摩擦力之间的关系,为实际手术中所需的递送力提供理论模型;通过ABAQUS仿真软件分析了回转夹持递送模块、单组滚轮结构、两组滚轮结构夹持导管时的接触应力与接触面积,比较三种结构夹持对导管的破坏程度;再次,通过搭建轴向抓取力,周向抓取力,轴向精度,周向精度检测平台,得到驱动模块的最大抓取力与精度;通过体外血管模型设置主动脉弓三个分支动脉的递送任务,通过与模拟往复拖拽结构实验对比,验证了回转夹持连续推捻模块对导管递送效率的提升。仿真和实验结果表明,提出的回转夹持连续递送的导管驱动模块夹持可靠,最大轴向推送力为26.6 N,最大旋转扭矩为30.56 mN·m,且递送效率优于往复拖拽结构,完成三个任务的平均时间分别减少了42.3%、27.6%、45.7%,轴向驱动精度为0.9 mm,旋转精度为0.63°,能满足手术要求。Aiming at the problem of large-stroke and efficient delivery operation of ultra-long-diameter ratio flexible catheter in vascular interventional robots,a catheter drive module with rotary clamping continuous delivery is proposed,which has the advantages of reliable clamping of jaw structure and continuous delivery of roller friction structure.The friction mechanism between the rotary clamping structure and the catheter is analyzed from the microscopic perspective,the calculation formula of contact area,normal load and friction force is obtained,and the relationship between the radial clamping deformation of the catheter,the normal load and friction force is analyzed from the macroscopic perspective,which provides a theoretical model for the delivery force required in actual surgery.The contact stress and contact area of the conduit clamping in the rotary clamping delivery module,single roller structure and two groups of roller structure were analyzed by ABAQUS simulation software,and the damage degree of the three structural clamping to the catheter is compared.By building the axial grasping force,circumferential grasping force,axial accuracy,circumferential accuracy detection platform,the maximum grasping force and accuracy of the drive module are obtained.The delivery task of the three branches of the aortic arch is set up by the in vitro vascular model,and the improvement of the catheter delivery efficiency of the rotary clamping continuous push and twist module is verified by comparing it with the simulated reciprocating dragging structure experiment.Simulation and experimental results show that the catheter drive module proposed for continuous delivery of rotary clamping is reliable,the maximum axial push force is 26.6 N,the maximum rotational torque is 30.56 mN-m,and the delivery efficiency is better than that of reciprocating dragging structure,the average time to complete the three tasks is reduced by 42.3%,27.6% and 45.7%,the axial drive accuracy is 0.9 mm,and the rotation accuracy is 0.63°,which can me

关 键 词：介入机器人 回转夹持 可靠夹持 摩擦驱动 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]