介入手术中导管导向机器人技术的发展

The technical development of steerable catheter robot in performing interventional vascular surgery

微创介入手术是治疗血管疾病的主要手段之一,导管是介入手术的主要操作工具之一,由于血管系统的复杂和狭小,医师要徒手完成导管在血管内的精准操作十分困难。所以,导管导向机器人的研究也随着微创介入手术的出现而产生了。此文首先综述了导管导向机器人的产生及发展历史,然后分别介绍了世界各国研究人员在导管导向机器人方面进行的主要阶段性研究成果、最新研究进展,最后对导管导向机器人的发展做了一下展望。

Minimally invasive surgery is one of the primary means for the treatment of vascular diseases.The catheter is one of the main operating tools.As the vascular system is quite complicated and tiny,it is usually very difficult for the operator to accurately and bare-handedly accomplish the whole intravascular procedure.Therefore,with the rapid development of minimally invasive surgeries the practical study related to the clinical employment of steerable catheter robot has attracted the researchers＇ attention.This paper aims to describe the emergence and development history of steerable catheter robot and also to introduce the main achievements as well as the up-to-date progress in the researches relevant to steerable catheter robot that have been obtained by research workers all over the world so far.The prospects for the future development of steerable catheter robot are briefly discussed.