| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 94 === The biggest difficulty met by cardiology doctors when they perform endovascular surgery is that they have to get guidewire penetrated through the obstacles or the curved part of blood vein slowly as well as carefully, which takes doctors from minutes to hours to finish and often exhausts them. Once the penetration of guidewire is done, it would be easier to complete the rest of the operation. Then there comes a huge challenge for doctors – how to successfully and precisely perform this penetration operation by using the “mechanical arm” to control the movement of guidewire.
This essay provides the attempt to develop and implement cardiac catheterization mechanical controllers that will allow rotative and translative degree of freedom done by doctors, thus sparing more strength for them and making them perform operation more effortlessly. During the process of experiment, it is found that the leading end of the guidewire may not move forward the same distance as that is pushed in by the surgeon from the input end. In this essay, there will be a discussion over the associated deformation theories, deducing the variation of deformation pattern with the increasing longitudinal force based on different spans and radius ratio. A detailed discussion over this issue will also be seen in this essay.
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