肝动脉介入栓塞手术机器人设计及栓塞效果评价  

Design of Surgical Robot for Interventional Embolization of Hepatic Artery and Evaluation of Embolization Effect

作　　者：周俊强 梅子阳 罗潇潇 程红伟 毛景松 刘刚[2] 赵扬[1,2] ZHOU Junqiang;MEI Ziyang;LUO Xiaoxiao;CHENG Hongwei;MAO Jingsong;LIU Gang;ZHAO Yang(Department of Mechanical&Electrical Engineering,Xiamen University,Xiamen,361102;Center for Molecular Imaging and Translational Medicine,Xiamen University,Xiamen,361102;Department of Radiology,Xiang'an Hospital of Xiamen University,Xiamen,361102)

机构地区：[1]厦门大学机电工程系,厦门361102 [2]厦门大学分子影像暨转化医学研究中心,厦门361102 [3]厦门大学附属翔安医院放射科,厦门361102

出　　处：《生命科学仪器》2021年第1期48-52,共5页Life Science Instruments

基　　金：科技部国家重点研发计划(2017YFA0205201);国家自然科学基金杰出青年基金(81925019);中央高校基本科研业务费专项资金(20720190144)。

摘　　要：经导管动脉化疗栓塞术是目前中晚期肝癌患者的常用选择。本文设计一款肝脏肿瘤介入栓塞的四自由度机器人系统,用于遥控完成外科医生对导丝导管的递送和旋捻的手术操作以避免术中辐射。在动物测试实验中,操作者通过主从方式远程操控机器人执行端将导丝、导管递送到兔VX2肝原位肿瘤供血靶动脉,并成功实施介入栓塞,结果表明本文设计的机器人系统可以初步满足介入栓塞的临床应用需求。Transcatheter arterial chemoembolization(TACE) is the common choice for advanced-staged liver cancer patients. In this paper, a four-degree-of-freedom robotic interventional system is designed that could be used to complete the conventional surgical operation of remotely delivering and twisting motions of the guide wire/catheter to protect doctors from radiation exposure during surgery. In the animal test experiment, the operator delivered the guide wire and catheter to the target blood supply artery of VX2 liver tumor in situ by controlling the robot and successfully implemented interventional embolization. The result shows that the robotic system designed in this paper could initially meet the clinical application requirements of interventional embolization.

关 键 词：介入栓塞 手术机器人 导丝导管 主从控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]