【作者】 池昌敏；

【导师】 王科俊；

【作者基本信息】 哈尔滨工程大学 ， 模式识别与智能系统， 2007， 硕士

【摘要】 近年来，介入手术(MIS)技术受到越来越多医生和患者的青睐，尤其是在脑神经外科手术中得到了广泛的应用。它在提高手术的质量、减少手术创伤、缩短病人的恢复周期、降低病人和医院的开支等方面具有显著的优点。然而，脑神经外科手术的实际操作中存在医生手动进行插管的精度较低、无法感知导管前端的受力情况、手术中所使用的X射线对医生健康的影响以及偏远地区患者就医问题等方面的问题。基于上述原因，在本论文中的研究过程中研制了一种应用于脑神经外科辅助插管机械装置，并以该装置为基础，开展了有关脑神经外科手术辅助系统方面的研究。主要包括辅助插管机械装置的总体设计，多种控制方法的设计和应用于导管侧壁的微力传感器这几个方面的研究。在机械装置的设计中，分别阐述各部分机械结构的设计，以及驱动步进电机的控制。为了更进一步优化系统的控制方法，在系统中引入手动控制及远程控制。手动控制主要通过向四个方向推动手柄，控制导管做前进、后退及正反两个方向旋转运动。而远程控制的实现主要利用了TCP／IP协议及Winsock技术。同时为了更好地监控导管的运动情况，在系统中引入视频监控功能。实验证明，所开发的辅助系统具有高精度、良好的稳定性且易于控制。针对手术中医生缺少力觉信息的情况，在所开发系统的导管上装有侧壁触觉传感器，该传感器主要采用PVDF压电薄膜制成。通过实验证明，所安装的传感器能够检测到导管与血管壁之间的受力情况。更多还原

【Abstract】 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.更多还原