| Radiofrequency Catheter Ablation（RFCA）is a surgery that utilizes ablationcatheter to treat cardiovascular disease like atria fibrillation, coronary heart disease, et al.There are some deficiencies in current operation:(1) Radiation hazard in the procedure;(2) Lacking of force feedback from the catheter tip;(3) Low accuracy of the manualoperation. In order to overcome these disadvantages, this paper developed arobot-assisted catheter conveyor that could help the doctor to do the catheter conveying.The work includes the followings:The robot-assisted catheter conveyor system was introduced. Design criteria wereset according to the function demands. The gasbag clamp, batch-type conveying, andthe drive mode were confirmed. Reflective optical fiber micro-displacement detectiontheory was chosen to fabricate the force sensor.The structural designing and analysis of the conveyor were demonstrated.Including the gasbag clamp design, the quick connector structure design; the batch-typeconveying structure design with motor-synchronous bell-screw; and the rotatingstructure design with motor-gear mechanism. Significant parts of the conveyor weretested and the kinematic analysis was done to test if interference existed.The force sensor was designed and assembled with the catheter. Calibrationexperiment was set up to determine the relationship between the power of the reflectedlight and the far-end force of the catheter.The conveyor system was integrated with the master-slave control design andexperiments were taken to test the system. Acceding to the results of the conveying,rotating and force feedback testing, the robot-assisted catheter conveyor system wasproved to be effective and precise. Master-slave operation system was chosen to avoidthe ablation hazard. Beside, a force sensor was designed and assembled with thecatheter to reach more operation accuracy... |
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