心導管手術醫生端之自動化

Abstract

冠狀動脈疾病是心血管系統的常見病和多發病。隨著生活水準的不斷提高，國內的冠狀動脈疾病發病率也持續增高。目前治療冠狀動脈疾病主要方法為心導管手術。現行的心導管手術由心臟內科醫生純手動操作，手術中，他們除了要承受過度集中精力產生的疲憊，還需要承受手術中輻射造影對身體產生的危害，因而必須穿著重達五公斤的鉛衣進行手術。爲了減輕醫生的負擔以及改善心臟內科手術的工作環境，本研究欲使心導管手術醫生端操作自動化。 本研究將利用一根模擬絲綫模擬成導絲來獲取醫生在心導管手術中的手部動作，並利用旋轉編碼器準確取得導絲在醫生的控制下產生旋轉的角度和前進、後退的距離，並將其通過Arduino UNO開發板發送給電腦，利用Matlab輸出在人機交互介面。而導絲在前進過程中所受之阻力和障礙，也會被量化並顯示在人機交互介面中，並通過程式控制一隻減速電機和一隻直綫步進電機施加在模擬導絲之上，使得醫生能夠及時感知並做出下一步判斷與操作。 本研究試製心導管手術醫生端之自動化機構，並配合對應的控制程式，展示了推、拉、轉三個動作的讀取和減速、鎖止機構的運行，同時還設計實驗，證明該機構能夠基本模擬心導管手術真實的操作感受，達到了研究設定的各項目標。

Coronary artery disease is a common and frequently-occurring disease of the cardiovascular system. With the continuous improvement of living standards, the incidence of coronary artery disease in China has also continued to increase. At present, the main method for treating coronary artery disease is cardiac catheterization. The current cardiac catheterization is operated by the cardiologist directly. During the operation, in addition to the fatigue caused by excessive concentration, they also need to bear the harm caused by radiation contrast during surgery. Therefore, they must wear lead clothes weighing up to five kilograms. Surgery. In order to reduce the burden on doctors and improve the working environment of cardiac surgery, this study is intended to automate the operation of cardiac catheterization doctors. In this study, a simulated silk wire was used to simulate the guide wire to obtain the hand movement of the doctor during cardiac catheterization, and the rotary encoder was used to accurately obtain the angle of rotation and the distance between the advance and the retreat of the guide wire under the control of the doctor. And then send it to the computer by the Arduino UNO development board, using Matlab output in the human-computer interaction interface. The resistance and obstacles that the guide wire is subjected to during the advancement process are also quantified and displayed in the human-computer interaction interface, and a variable speed motor and a linear stepping motor are controlled by the program to be applied on the analog guide wire. Allow the doctor to sense and make the next judgment and operation in time. In this study, the automated mechanism of the cardiac catheterization doctor was tested, and the corresponding control program was used to demonstrate the reading and deceleration of the three actions of pushing, pulling and rotating, and the operation of the locking mechanism. At the same time, the experiment was also designed to prove that the mechanism can basically simulate the real operating experience of cardiac catheterization and achieve the goals set by the research.