Research On Master-slave Device For Catheter Used In Invasive Surgery

Minimal invasive vascular surgery (MIVS) is a kind of new medical technology, which uses catheter to perform operations. Operations like this have many advantages, such as short recovery time; less tissue damages incurred from incisions and so on. In recent years, it is becoming more and more widespread.In traditional methods of catheterization, the catheter is operated by the doctor directly. However, the catheter operated in this way has many disadvantages, such as difficult guiding, steep demand for manipulative skill and injuring blood vessels. For a better catheterization, this paper plans to develop a new transporting system for the catheter used in MIVS to take the place of the traditional catheterization.In the first place, the structural analysis and designing scheme of the transporting system are given according to the system functional demands. Two kinds of designing schemes of transporting devices, the continuous transporting device and the relay transporting devices are given. Three dimensional entity models of the devices are established to detect interference through kinematic analysis. The stress analysis and strength verification are provided for the typical parts of the devices. Subsequently, improvement and optimization of the structure of the continuous transporting devices are carried out according to the parameters.In the next place, this thesis focuses on the structures of the hardware and software in motion controlling system. According to the task characteristics of the MIVS catheter transporting system, Heterogeneous master-slave control scheme is adopted. The hardware platforms which base on motion controller and 3DOF handle are built. The controlling software is designed in VC++ environment to realize the controlling functions.In addition, a tactical sensor is installed in the transporting system to feedback the invasive force. The circuit board is designed, and the hardware platforms which base on Advantech Data Acquisition Card are built in order to process the force signal. Then the software platforms make the master-handle have the feeling of the feedback force. Meanwhile, a force protecting function is settled to insure the safety of the surgery. Finally, the continuous transporting device and the controlling systems are combined to perform the MIVS operation. Meanwhile, the feasibilities of the system are verified through experiments.