栓塞剂智能注射系统注射流速决策方法研究  

Research on injection flow velocity planning method for embolic agent injection system

作　　者：李嘉晟 任东城 周波[4] 郭士杰 郭宝磊[4] LI Jiasheng;REN Dongcheng;ZHOU Bo;GUO Shijie;GUO Baolei(Academy for Engineering and Technology,Fudan University,Shanghai 200433,P.R.China;Shanghai Engineering Research Center of AI&Robotics,Fudan University,Shanghai 200433,P.R.China;Engineering Research Center of Al&Robotics,Ministry of Education,Fudan University,Shanghai 200433,P.R.China;Zhongshan Hospital,Fudan University,Shanghai 200032,P.R.China)

机构地区：[1]复旦大学工程与应用技术研究院,上海200433 [2]复旦大学上海智能机器人工程技术研究中心,上海200433 [3]复旦大学智能机器人教育部工程研究中心,上海200433 [4]复旦大学附属中山医院,上海200032

出　　处：《生物医学工程学杂志》2022年第3期579-585,共7页Journal of Biomedical Engineering

基　　金：上海市2019年度“科技创新行动计划”生物医药领域科技支撑项目(19441907100);国家自然科学基金青年基金(82000436);上海市科委实验动物领域项目(201409004800)。

摘　　要：介入栓塞治疗广泛用于肿瘤靶向治疗、抗器官功能亢进和止血等手术。栓塞剂注射过程中,医师需要在X线照射环境下工作;而且,栓塞剂注射操作很大程度上依赖于医生的经验与手感,栓塞剂的过量注射会导致反流,造成异位栓塞并引发严重的并发症。作为降低射线照射、提高介入栓塞治疗成功率的有效手段,栓塞剂注射机器人受到高度期待,但如何决策栓塞剂的推注流速,是一个尚待解决的问题。本文在流体力学仿真和实验的基础上,建立了可避免反流的平均动脉压-注射流速边界曲线模型,为栓塞剂智能注射系统的控制提供了设计依据,并且搭建了注射系统的体外实验平台,进行了验证实验。结果显示,在反流临界流速曲线模型的引导下设计的栓塞剂注射流速曲线,可有效避免栓塞剂反流,同时缩短栓塞剂注射时间,超出该模型的流速限制将引发正常血管被栓塞的风险。本文确认了依据反流临界流速曲线设计栓塞剂注射流速的有效性,可在实现栓塞剂的快速注射的同时避免反流,为栓塞剂注射机器人的设计提供了依据。Interventional embolization therapy is widely used for procedures such as targeted tumour therapy,anti-organ hyperactivity and haemostasis. During embolic agent injection, doctors need to work under X-ray irradiation environment. Moreover, embolic agent injection is largely dependent on doctors’ experience and feelings, and overinjection of embolic agent can lead to reflux, causing ectopic embolism and serious complications. As an effective way to reduce radiation exposure and improve the success rate of interventional embolization therapy, embolic agent injection robot is highly anticipated, but how to decide the injection flow velocity of embolic agent is a problem that remains to be solved. On the basis of fluid dynamics simulation and experiment, we established an arterial pressure-injection flow velocity boundary curve model that can avoid reflux, which provides a design basis for the control of embolic agent injection system. An in vitro experimental platform for injection system was built and validation experiments were conducted. The results showed that the embolic agent injection flow speed curve designed under the guidance of the critical flow speed curve model of reflux could effectively avoid the embolic agent reflux and shorten the embolic agent injection time. Exceeding the flow speed limit of the model would lead to the risk of embolization of normal blood vessels.This paper confirms the validity of designing the embolic agent injection flow speed based on the critical flow speed curve model of reflux, which can achieve rapid injection of embolic agent while avoiding reflux, and provide a basis for the design of the embolic agent injection robot.

关 键 词：栓塞治疗 介入治疗 智能注射系统 注射流速规划 

分 类 号：R318.6[医药卫生—生物医学工程]