A novel robotic system for vascular intervention: principles, performances, and applications
A novel robotic system for vascular intervention: principles, performances, and applications
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DOI：
10.1007/s11548-018-01906-w
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发表时间：
2019-02
影响因子：
3
通讯作者：
Hao Shen;Cheng Wang;Le Xie;Shoujun Zhou;Lixu Gu;Hongzhi Xie
中科院分区：
文献类型：
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作者：
Hao Shen;Cheng Wang;Le Xie;Shoujun Zhou;Lixu Gu;Hongzhi Xie
本文介绍了一种新型的图像引导主从式血管介入机器人系统的设计、原理、性能和应用，包括性能评价和体内试验。方法基于点对点（P2P）远程通信系统、动力学分析、滑模神经网络自适应控制模型和反馈系统，这种新的机器人系统可以在真实的时间内完成许多VI操作，包括导丝平移和旋转、球囊导管平移和造影剂注射。主从式设计可以防止外科医生暴露在X射线辐射下，这意味着他们不需要穿沉重的铅服。我们还对新系统进行了性能评估，评估了速度，位置跟踪和精度，以及在体内猪trials.ResultsThe速度和位置跟踪效果非常好，这有助于在平移（误差≤ 0.45%）和旋转（误差≤ 2.6°）精度方面的高水平性能。此外，造影剂注射的准确度小于0.2 ml。该机器人系统成功地进行了颈动脉支架血运重建和四项体内试验。触觉反馈数据与机器人辅助程序相对应，并且数据的峰谷规律地发生。结论通过性能评估和四次成功的体内试验，验证了新机器人系统的可行性和效率，这将有助于进一步的研究。
PurposeThis paper describes the design, principles, performances, and applications of a novel image-guided master–slave robotic system for vascular intervention (VI), including the performance evaluation and in vivo trials.MethodsBased on the peer-to-peer (P2P) remote communication system, the kinetics analysis, the sliding-mode neural network self-adaptive control model and the feedback system, this new robotic system can accomplish in real time a number of VI operations, including guidewire translation and rotation, balloon catheter translation, and contrast agent injection. The master–slave design prevents surgeons from being exposed to X-ray radiation, which means that they are not required to wear a heavy lead suit. We also conducted a performance evaluation of the new system, which assessed the speed, position tracking, and accuracy, as well as in vivo swine trials.ResultsThe speed and position tracking effects are really good, which contribute to the high level of performance in terms of the translational (error ≤ 0.45%) and rotational (error ≤ 2.6°) accuracy. In addition, the accuracy of the contrast agent injection is less than 0.2 ml. The robotic system successfully performed both the stent revascularization of an arteria carotis and four in vivo trials. The haptic feedback data correspond with the robotic-assisted procedure, and peaks and troughs of data occur regularly.ConclusionsBy means of the performance evaluation and four successful in vivo trials, the feasibility and efficiency of the new robotic system are validated, which should prove helpful for further research.