The Design Of An Assistant System For Intravascular Neurosurgery

In recent years, MIS (minimum invasive surgery) has attracted most of surgeons and patients. It has been widely used in many kinds of surgeries especially in intravascular neurosurgery. It has more advantage on enhancing the quality of the surgery, reducing the wound of the patients, shorting the period of recovery and cutting down the spending of hospital and patients. However, there are several problems in intravascular neurosurgery: surgeon's poor precision, lack of tactile sense, surgeon's expose to X-ray and the region's limit.To solve these problems, we develop a catheter operating mechanism in intravascular neurosurgery. At the base of mechanism, we make a deep and systematic research on assistant system which using on intravascular neurosurgery. The research includes three parts: the whole design of mechanism, control method and the micro sensor fixed on the side wall of catheter.In design of the mechanism, the research instruction the design of the mechanism structure and the control method of step motor which drive the mechanism. In order to improving the control technique, we add the manual control and teleoperation. The manual control is realized by manipulating the joystick on four directions. The catheter can go forward and back or rotate. The teleoperation make use of the TCP/IP protocol and Winsock technology. Meanwhile we add the monitoring function to system. The experimental results show that the developed system has high precision, good stability and excellent operability.Base on the reason of lacking force information, a novel catheter side wall tactile sensor is fabricated for this system. The tactile sensor utilizes PVDF as the sensitivity material. The experimental results show that the tactile sensor can detect the force between blood vessel and catheter at minimum invasive surgery.