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<p>Designing the reasonable spiral structure and operating parameters of a vascular robot to improve the hemodynamic indicators is an important foundation for the non-invasive diagnosis and treatment of an interventional robot. In this paper, we consider the pulsatile nature of blood and the elastic deformability of blood vessels. By adopting a bidirectional fluid–structure interaction (FSI) method, we have conducted a numerical analysis of key hemodynamic indicators, namely blood flow velocity, blood pressure, vascular wall shear stress, and vascular deformation. This analysis is systematically performed under diverse conditions, including various spiral configurations, translational and rotational speeds of the interventional robot. Utilizing the particle image velocimetry (PIV) technology and a custom-developed testing system for the pulsatile fluid field of magnetic in-pipe robots, we have measured the fluid velocity around the robot during its precessional motion. The results show that as the translational and rotational speeds of the spiral robot increase, both the maximum blood pressure and the maximum vascular deformation exhibit a gradual and wavy increase. The average vascular wall shear stress is positively correlated with the translational speed of the spiral robot. Notably, the semicircular spiral robot induces slightly higher average vascular wall shear stress compared to the triangular spiral robot. Significantly, even when the robot operates at a relatively high speed to ensure work efficiency, it does not pose a substantial risk of vascular damage. Additionally, the presence of the robot leads to a notable increase in the time-averaged wall shear stress (TAWSS) in its vicinity. When the robot operates in a pipe filled with methyl silicone oil, the calculated distribution and magnitude of the fluid flow velocity within the pipe show a certain degree of consistency with the measured results. However, the robot’s motion trajectory is observed to be wavy, and there is a discrepancy between the calculated and measured values of the fluid flow velocity below the robot.</p>

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Effect of operating parameters of vascular robots with different thread profiles on arterial hemodynamics

  • 期刊论文

  • 发表日期：

    2025年9月2日

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  • Liang Liang,
  • Haoyu Xia,
  • Xiangping Duan,
  • Yu Liu,
  • Zongming Zhu,
  • Yanghui Xiang,
  • Yi Huang

摘要

Designing the reasonable spiral structure and operating parameters of a vascular robot to improve the hemodynamic indicators is an important foundation for the non-invasive diagnosis and treatment of an interventional robot. In this paper, we consider the pulsatile nature of blood and the elastic deformability of blood vessels. By adopting a bidirectional fluid–structure interaction (FSI) method, we have conducted a numerical analysis of key hemodynamic indicators, namely blood flow velocity, blood pressure, vascular wall shear stress, and vascular deformation. This analysis is systematically performed under diverse conditions, including various spiral configurations, translational and rotational speeds of the interventional robot. Utilizing the particle image velocimetry (PIV) technology and a custom-developed testing system for the pulsatile fluid field of magnetic in-pipe robots, we have measured the fluid velocity around the robot during its precessional motion. The results show that as the translational and rotational speeds of the spiral robot increase, both the maximum blood pressure and the maximum vascular deformation exhibit a gradual and wavy increase. The average vascular wall shear stress is positively correlated with the translational speed of the spiral robot. Notably, the semicircular spiral robot induces slightly higher average vascular wall shear stress compared to the triangular spiral robot. Significantly, even when the robot operates at a relatively high speed to ensure work efficiency, it does not pose a substantial risk of vascular damage. Additionally, the presence of the robot leads to a notable increase in the time-averaged wall shear stress (TAWSS) in its vicinity. When the robot operates in a pipe filled with methyl silicone oil, the calculated distribution and magnitude of the fluid flow velocity within the pipe show a certain degree of consistency with the measured results. However, the robot’s motion trajectory is observed to be wavy, and there is a discrepancy between the calculated and measured values of the fluid flow velocity below the robot.