遥操作血管介入机器人的实验分析-experimental analysis of teleoperated vascular interventional robot.docxVIP

摘 要背景机器人作为一种有效的工具已经引入外科手术，但在血管介入治疗领域机 器人的研究进展缓慢。目的通过体外预实验及动物实验，检验血管介入机器人在血管造影中的安全性 及可靠性。方法 采用由北京航空航天大学和海军总医院自主研发的血管介入机器人（VIR） 完成玻璃模型血管及动物血管造影实验。机器人包括主控台（远程操作系统）， 附助台（机械推进及旋转系统）以及液压固定装置。外科医生在三维导航下远程 操控机器人，完成导管在玻璃血管模型及动物血管内的推进及旋转，使得导管到 达指定血管。评测实验手术时间及成功率。结果玻璃血管模型试验中，导管可进入内径＞3mm，成角＜90°的各种血管模 型。动物（成年犬）实验中，可顺利完成肾动脉、椎动脉、颈总动脉的血管造影， 无手术并发症。结论 血管介入机器人进行血管造影是安全可行的，部分实现了医生的遥操作手 术，达到简单血管造影的要求。由于缺少导丝控制系统及力反馈系统，还需进一 步改进完善，方能扩大 VIR 机器人的应用范围。关键词介入 ，机器人 ， 遥操作 ， 动物实验Experiment Study Of Vascular Interventional Robot With Remote ApplicationAbstractBackground Robotic systems have been introduced as a useful method for surgicalprocedures，but in the field of vascular interventional therapy, the development robotic system is slow.Objective The purpose of this study is to verify the reliability and security of vascular interventional robot system used in angiography, by means of vitro preliminary experiments and animal experiments.Method To conduct the angiogram experiments of glass vessel model and animal by using the Vascular Interventional Robot developed by Beijing University of Aeronautics and Astronautics and Navy General Hospital. The robot system includes the console port (remote operation syetem), the assitant port (propelled and rotary system) and the hydraulic fixing device. The surgeon will control the robot remotely to go forward and rotate in the glass vessels model and animal vessels, on the 3D operation interface to reach the target vessels. Finally the operation time and success rate will be counted and evaluated.ResultIn the glass vessels model experiment, the catheter can enter various kinds of vessel models with inside diameter length more than 3mm and angle less than 90°.In the animal (adult dogs) experiments, the surgeon finished smoothly the angiogram of the renal artery, the vertebral renal and the arteria carotis communis, without any operative complications.Conclusion The angiogram by using Vascular Interventional Robot system is safe and reliable. It partl