| The increase of cardiovascular contributes to the dramatic development of interventional surgery, however, it is difficult for clinicians to operate the traditional interventional surgery in complex cardiovascular environment. Magnetic navigation system is the combination of interventional surgery and superconducting magnet technology, which can control magnetic catheter through computer program instructions and greatly reduce the operation difficulty of cardio cerebral vascular diseases and malignant tumors. To realize the remote control of magnetic catheter and other interventional devices, we will conduct research on design of software platform for magnetic navigation teleoperation in terms of the following aspect.Firstly, with consideration of system characteristics for magnetic navigation system and as well as volume and cost of equipment, we selected the control joystick instead of the hand controller as the main hand device for remote-control software platform. Then, we analyzed the mapping relationship between the joystick signal and the magnetic field direction, after that coordinate transformation method was studied. By controlling the angle differences among the magnetic field, we explored a scheme to solve the problem of magnetic field mutation during the operation of the magnetic catheter.Secondly, we designed the magnetic navigation teleoperation software platform based on the control method of magnetic catheter. Then we solved the problems about rocker data acquisition, data visualization, data storage and communication realized in the software. Among these, human-computer interaction software and power monitoring software cooperate to complete the debugging and real-time monitoring of the magnetic navigation equipment. In order to equip the magnetic catheter operation with convenient training conditions to the doctors, we constructed training software of virtual operation for magnetic catheter according to the specific requirements of the magnetic navigation operation, besides, we have designed the content and steps of the training program to realize evaluation of the training results.Finally, we calibrated the magnets and successfully completed animal intervention surgery by magnetic navigation monitoring software. At the same time, we recruited volunteers to conduct virtual operation training experiment, and the results were analyzed.With respect to the specific needs of interventional surgery for magnetic navigation, we designed the magnetic navigation teleoperation software platform. The results indicated that, the software platform achieved quick, accurate and stable control on magnetic catheter and solved the magnetic field mutation. Meanwhile, the virtual operation training software is helpful to enhance the operator's magnetic catheter control ability. |
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