血管介入机器人的血管造影实验研究  

Experimental study of angiography using vascular interventional robot

作　　者：田增民[1] 卢旺盛[2] 王大明[2] 刘达[3] 张大鹏[3] 李志超[1] 贾博[1] 

机构地区：[1]海军总医院全军神经外科中心,北京100048 [2]北京医院神经外科 [3]北京航空航天大学机器人所

出　　处：《中华外科杂志》2010年第13期1013-1015,共3页Chinese Journal of Surgery

基　　金：国家863计划资助项目（2007AA04Z246）

摘　　要：目的 验证血管介入手术机器人系统应用于血管介入手术的可行性及安全性.方法 血管介入机器人主要包括机械推进系统和图像导航系统两部分,采用主辅结构.外科医生处于主站点位置,发送控制指令到处于辅位置的机器人,机器人将指令转化为导管动作.在玻璃模型预实验和动物实验中,外科医牛通过远程控制血管介入机器人,将导管插入到预定的目标,最后评测导管定位误差及手术时间.结果 玻璃检测血管模型预实验中,在机器人的操纵下,造影导管可以进入一个任意分支血管模型,导管定位误差〈1 mm.在10只成年犬上成功进行机器人血管介入手术.犬的肾动脉与椎动脉造影均顺利进行,无手术并发症,实验平均用时35 min,医生未暴露在射线下.结论 血管介入手术机器人系统是安全和可行的,可实现导管的医生远程操作,基本上满足血管造影的要求.Objective To assess the feasibility and safety of vascular interventional surgery by using vascular interventional robot system （VIRS）. Methods VIRS included image navigation systems and body propulsion systems, and adopted a master-slave structure. The surgeon sat at the master site, sending controlling instructions to the robot fixed at the slave site, and then the robot translated these instructions into catheter motion. A 3D vascular model was reconstructed so that the surgeon can perform surgical planning easily. In glass model and animal experiments, the surgeon remotely controlled VIRS, which inserted a catheter into predefined targets, and the catheter positioning error and robotic surgery time were measured. Results The robot was initially tested on a glass vascular model. Under robotic manipulation, the catheter could enter an arbitrary branch of the vascular model. The catheter positioning error was less than 1 mm. Then robotic interventional surgery was performed successfully in ten adult dogs. The renal artery and the vertebral artery angiography carried out smoothly without complication. Experiment took 35 minutes, and the time what staff exposed to the digital subtraction angiography （ DSA） machine was 0 minute. Conclusion Vascular interventional surgical robot system is safe and feasible, and can achieve the catheter remote operation, meet the requirements of angiography basically.

关 键 词：放射学 介入性 外科手术 微创性 机器人 动物实验 

分 类 号：R654.3[医药卫生—外科学]