Control Technology And Application Of Magnetic Navigation Interventional Catheter Soft Robot

Biology has inspired researchers in many ways;more than 100 years ago,the airplane was born from a human fantasy of being able to fly in the blue sky like a bird.In the 1950 s,in order to improve the shape and performance of automobiles,designers at Ford dived into the Caribbean Sea with the help of a submarine,looking for inspiration by observing the beautiful curves left by fish swimming through the windows.In recent years,examples of various bionic robots inspired by nature are also commonplace.Snakes,elephant trunks,tongues and octopus tentacles have demonstrated incredible mobility,manipulation and dexterity in cluttered environments,and this has inspired researchers to recreate them in electromechanical devices,leading to rapid growth in the field of soft-bodied robotics.These bionic robots are also being integrated into operating rooms around the world to perform minimally invasive surgical tasks such as cell manipulation,microassembly,minimally invasive therapy,contaminant degradation,targeted drug delivery,targeted diagnostics,and vascular interventions in confined and complex environments where human open surgical instruments do not work,enabling or improving many new minimally invasive surgical procedures.Minimally invasive interventional procedures are a very common means of treating endovascular disease,especially in abdominal surgery,where minimally invasive procedures have replaced open surgery as the gold standard.Compared to open surgery,minimally invasive interventional procedures have the advantages of small incisions,quick recovery,no general anesthesia,and low surgical risk.Catheters and guidewires are the more common tools used to perform minimally invasive procedures.Because common catheters/guidewires do not have the ability of directional selection and automatic advancement,current minimally invasive interventional procedures have many drawbacks such as long procedure times,high radiation exposure to physicians and patients,and a large lack of experienced physicians.Therefore,the design of the interventional catheter soft robot,the design and construction of the magnetic manipulation system,the deflection characteristics in the magnetic field and its navigation performance in the 3D simulated vascular model are investigated in depth.Firstly,we designed and built a full range of multi-degree of freedom magnetic manipulation system with friendly human-machine interaction in 3D space.The system contains software modules such as main control thread,motor drive thread,visual feedback thread,interface display thread and curve drawing thread,and reserved haptic sensor interface can be easily used to intervene in the catheter soft robot tip contact force feedback.The hardware is divided into a drive module,an actuator module,which includes a host computer,an ECI3808 motion control card,a motor driver,a camera and a haptic sensor,and an actuator module,which consists of two sets of mutually symmetrical right-angle coordinate robotic arms and limiters on each axis.A permanent magnet is mounted on the z-axis of each arm,and the movement of the arm is controlled to drive the soft robot to turn in any direction in three-dimensional space.Second,a soft robot with large-angle deflection capability for magnetically guided interventional catheters was designed,which was made by embedding a soft magnetic actuator in the head of a common medical interventional guidewire.The deflection model of the magnetically guided interventional catheter robot under the action of the applied magnetic field is analyzed and the related mathematical model is established.The reasonableness and accuracy of the model are further verified by experiments.Finally,the deflection characteristics of the interventional catheter soft robot in an applied magnetic field and its ability to navigate in circular and simulated vessels are explored.The experimental results show that the designed interventional catheter soft robot is capable of large-angle deflection and competent for minimally invasive interventional tasks in complex and restricted vascular environments.