腔内手术机器人在主动脉弓上血管造影中的应用及安全性评价  

Evaluation of effectiveness and safety on remote-control endovascular robot in supra-arch arterial angiography

作　　者：谭晋韵 贾罗琦[2] 史伟浩 余波 TAN Jinyun;JIA Luoqi;SHI Weihao;YU Bo(Vascular Surgery Department,Huashan Hospital,Fudan University,Shanghai 200040,China;Obstetrics&Gynecology Hospital,Fudan University,Shanghai 200011,China;Vascular Surgery Department,Pudong Hospital,Fudan University,Shanghai 201399,China)

机构地区：[1]复旦大学附属华山医院血管外科,上海200040 [2]复旦大学附属妇产科医院,上海200011 [3]复旦大学附属浦东医院血管外科,上海201399

出　　处：《机器人外科学杂志（中英文）》2020年第4期250-257,共8页Chinese Journal of Robotic Surgery

基　　金：浦东新区科技发展基金创新资金(PKJ2012-Y68);上海市重点专科项目(ZK2019A10)。

摘　　要：目的:应用自主研发的远程控制血管腔内手术机器人系统完成动脉造影手术,并评价其有效性及安全性。方法:使用三维人体血管模型及巴马小型猪,在DSA(Digital subtraction angiography,DSA)下远程控制血管腔内手术机器人操控导管自股动脉入路进入血管模型及实验动物的主动脉弓和三级血管,完成猪全脑血管造影,并对标记部位行组织切片,评价系统有效性及安全性。结果:血管腔内手术机器人可成功进入体外模型主动脉弓及三级血管分支,并在体内研究中成功完成猪全脑血管造影,术后猪主动脉弓及各标记部位组织切片中血管内膜未见明显损伤。结论:本研究证实远程控制腔内机器人系统可在动物模型中成功完成弓上动脉及全脑血管造影,超选目标血管及造影过程安全有效。Objective:To evaluate the effectiveness and safety on a self-developed remote-control endovascular robot in supra-arch arteries selection and angiography operation.Methods:The endovascular robotic system is controlled remotely to direct the catheter from femoral access to aortic arch and supra-arch tertiary vessels in a three-dimensional human vascular model and Bama mini-pigs to complete cerebral angiography under fluoroscopy of DSA.Pathological examination of arterial tissue at marked sites was performed to evaluate the safety.Results:The endovascular robot can successfully enter the aortic arch and supra-arch tertiary vessels in vitro model and complete the porcine cerebral angiography.Postoperative porcine aortic arch and supra-arch vascular tissue pathological examination showed no obvious injury on arterial intima in areas of interest.Conclusion:This study confirmed that remotely controlled endovascular robot can successfully perform supra-arch arteries and cerebral angiography in vascular and animal model.The experimental process of super-selection and angiography is safe and effective.

关 键 词：机器人手术系统 血管腔内手术 脑血管造影 动脉内膜损伤 

分 类 号：R608[医药卫生—外科学] R654.4[医药卫生—临床医学]