A novel remote-controlled robotic system for cerebrovascular intervention
A novel remote-controlled robotic system for cerebrovascular intervention
复制标题
一种用于脑血管介入的新型远程控制机器人系统
DOI：
10.1002/rcs.1943
复制
发表时间：
2018-12-01
影响因子：
2.5
通讯作者：
Xie, Hongzhi
中科院分区：
文献类型：
--
作者：
Shen, Hao;Wang, Cheng;Xie, Hongzhi
背景在脑血管介入（CVI）中，机器人的使用比传统手术具有相当大的优势。这项研究介绍了一个远程控制的机器人系统，包括第一个在体内的概念验证试验。方法机器人系统采用主从式控制策略。选择Omega 3作为主操纵器，从机侧执行插入导丝和球囊导管以及血管造影的程序。进行了第一次体内试验，以测试导丝是否可以使用我们的机器人系统成功地从猪的股动脉移动到颈动脉。结果所有患者均顺利完成导丝和球囊导管的插入及血管造影，无血管破裂。导丝成功插入猪颈动脉的二级分支。机器人辅助手术的时间比人工手术要长一些。结论该机器人系统首次在体试验的成功表明了其可行性和有效性。
Background In cerebrovascular intervention (CVI), the use of robots has considerable advantages over conventional surgery. This study introduces a remote-controlled robotic system, including the first in vivo proof-of-concept trial. Methods The robotic system uses a master-slave control strategy. Omega 3 was selected as the master manipulator, and the slave side executed the procedure of inserting the guidewire and balloon catheter, and angiography. The first in vivo trial was conducted to test whether the guidewire could be successfully moved from a pig's femoral artery to its carotid artery using our robotic system. Results The insertion of the guidewire and balloon catheter and the angiography were successfully accomplished without any vascular rupture. The guidewire was successfully inserted into the secondary branches of the pig's carotid. The robot-assisted surgery took a little more time than manual surgery. Conclusions The successful first in vivo trial indicates the feasibility and effectiveness of the robotic system.