Operation and Force Analysis of the Guide Wire in a Minimally Invasive Vascular Interventional Surgery Robot System

作     者：YANG Xue WANG Hongbo SUN Li YU Hongnian 

作者机构：Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University School of Mechanical Engineering University of Jinan Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of EducationYanshan University Faculty of Science and Technology Bournemouth University 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2015年第28卷第2期

页      面：249-257页

核心收录：

学科分类：0831[工学-生物医学工程（可授工学、理学、医学学位）] 1004[医学-公共卫生与预防医学(可授医学、理学学位)] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 10[医学] 

基　　金：Supported by National Hi-tech Research and Development Program of China(863 Program,Grant No.2010AA044001) Hebei Provincial Natural Science Foundation of China(Grant No.E2015203405) 

主　　题：minimally invasive wire feeder force analysis moment of inertia risk criterion 

摘      要：To develop a robot system for minimally invasive surgery is significant,however the existing minimally invasive surgery robots are not applicable in practical operations,due to their limited functioning and weaker perception.A novel wire feeder is proposed for minimally invasive vascular interventional *** is used for assisting surgeons in delivering a guide wire,balloon and stenting into a specific lesion *** contrasting those existing wire feeders,the motion methods for delivering and rotating the guide wire in blood vessel are described,and their mechanical realization is presented.A new resistant force detecting method is given in *** change of the resistance force can help the operator feel the block or embolism existing in front of the guide *** driving torque for rotating the guide wire is developed at different *** the CT reconstruction image and extracted vessel paths,the path equation of the blood vessel is *** the shapes of the guide wire outside the blood vessel,the whole bending equation of the guide wire is *** is a risk criterion in the delivering *** process can make operations safer and man-machine interaction more reliable.A novel surgery robot for feeding guide wire is designed,and a risk criterion for the system is given.