第二代血管造影机器人的血管造影实验研究  

Experimental study of angiography using vascular interventional robot-2 （VIR-2）

作　　者：田增民 卢旺盛 刘达[2] 王大明[3] 郭书祥[4] 徐武夷 贾博 赵德鹏[2] 刘博[2] 高宝丰[4] 

机构地区：[1]海军总医院全军神经外科研究所,北京100048 [2]北京航空航天大学机器人所 [3]卫生部北京医院神经外科 [4]日本国立香川大学

出　　处：《中华外科杂志》2012年第6期543-546,共4页Chinese Journal of Surgery

基　　金：国家863计划资助项目（2007AA04Z246）

摘　　要：目的验证第二代血管造影机器人（VIR-2型）系统应用于血管造影手术的可行性及安全性。方法第二代血管造影机器人（VIR-2型）主要包括机构推进主从系统、三维图像导航系统和导管末端力反馈3个部分，对导管操作可实现自动控制及三维图像导航下运行，同时实时整合力反馈信息。实验进行体外血管模型预试验及狗的脑血管造影，外科医生通过远程控制血管造影机器人，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。结果体外预试验血管模型内推进导管实验过程顺利，造影导管可以进入任意分支血管，导管定位误差〈1mm；动物脑血管造影术顺利，一次操作成功率为100％，整个实验过程分别用时26和30min，较VIR-1型血管造影机器人有轻微提高，工作人员在DSA机下暴露时间为0min。导管末端力觉传感器可将阻力显示给操作者，为手术提供了安全保障。无手术并发症。结论VIR-2型血管造影机器人系统是安全和可行的，可实现导管的远程操作和血管造影，主从系统符合传统操作特点，三维图像导航可指引手术顺利进行，导管末端力反馈提供远端导管实时的力觉信息，为手术提供安全保障。Objective To verify the feasibility and safety of new vascular interventional robot system used in vascular interventional procedures. Methods Vascular interventional robot type-2 （VIR-2） included master-slave parts of body propulsion system, image navigation systems and force feedback system, the catheter movement could achieve under automatic control and navigation, force feedback was integrated real-time, followed by in vitro pre-test in vascular model and cerebral angiography in dog. Surgeon eontroled vascular interventional robot remotely, the catheter was inserted into the intended target, the catheter positioning error and the operation time would be evaluated. Results In vitro pre-test and animal experiment went well ; the catheter can enter any branch of vascular. Catheter positioning error was less than 1 mm. The angiography operation in animal was carried out smoothly without complication; the success rate of the operation was 100% and the entire experiment took 26 and 30 minutes, efficiency was slightly improved compared with the VIR-1, and the time what staff exposed to the DSA machine was 0 minute. The resistance of force sensor can be displayed to the operator to provide a security guarantee for the operation. No surgical complications. Conclusions VIR-2 is safe and feasible, and can achieve the catheter remote operation and angiography; the master-slave system meets the characteristics of traditional procedure. The three-dimensional image can guide the operation more smoothly; force feedback device provides remote real- time haptic information to provide security for the operation.

关 键 词：外科手术 计算机辅助 外科手术 微创性 机器人 脑血管造影 动物实验 

分 类 号：R816.2[医药卫生—放射医学]