Catheter Friction Drive Based on Rotary Clamp Delivery

doi:10.3901/JME.2024.17.080

Abstract

Abstract: Aiming at the problem of large-stroke and efficient delivery operation of ultra-long-diameter ratio flexible catheter in vascular interventional robots, a catheter drive module with rotary clamping continuous delivery is proposed, which has the advantages of reliable clamping of jaw structure and continuous delivery of roller friction structure. The friction mechanism between the rotary clamping structure and the catheter is analyzed from the microscopic perspective, the calculation formula of contact area, normal load and friction force is obtained, and the relationship between the radial clamping deformation of the catheter, the normal load and friction force is analyzed from the macroscopic perspective, which provides a theoretical model for the delivery force required in actual surgery. The contact stress and contact area of the conduit clamping in the rotary clamping delivery module, single roller structure and two groups of roller structure were analyzed by ABAQUS simulation software, and the damage degree of the three structural clamping to the catheter is compared. By building the axial grasping force, circumferential grasping force, axial accuracy, circumferential accuracy detection platform, the maximum grasping force and accuracy of the drive module are obtained. The delivery task of the three branches of the aortic arch is set up by the in vitro vascular model, and the improvement of the catheter delivery efficiency of the rotary clamping continuous push and twist module is verified by comparing it with the simulated reciprocating dragging structure experiment. Simulation and experimental results show that the catheter drive module proposed for continuous delivery of rotary clamping is reliable, the maximum axial push force is 26.6 N, the maximum rotational torque is 30.56 mN·m, and the delivery efficiency is better than that of reciprocating dragging structure, the average time to complete the three tasks is reduced by 42.3%, 27.6% and 45.7%, the axial drive accuracy is 0.9 mm, and the rotation accuracy is 0.63°, which can meet the surgical requirements.

Key words: interventional robots, rotary clamping, reliable clamping, friction driven

CLC Number:

TP241

REN Baozhen, ZHAO Yan, ZHANG Jianhua, ZHANG Jianjun. Catheter Friction Drive Based on Rotary Clamp Delivery[J]. Journal of Mechanical Engineering, 2024, 60(17): 80-90.

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