遥操作血管介入机器人的实验研究

Experimental study of remote controlled vascular interventional robot

目的通过血管模型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。方法采用自主研发的血管介入机器人完成血管模型实验及动物血管造影实验。机器人系统包括机械推进系统、图像导航及操控系统和机器人多角度把持系统。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,使导管到达指定血管。并评测手术时间及成功率。结果血管模型试验中,导管可进入内径>3 mm,成角<90°的各种血管模型;随着血管分支内径减小,及分支与主干所成角度增大,操作成功概率下降,手术时间增加。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行血管造影是安全、可行的,可部分实现医生遥操作,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,方能扩大其应用范围。

Objective To verify the reliability and safety of vascular interventional robot system in angiography by vessel model trial and animal experiment.Methods The independent developed vascular interventional robot system was used to finish the vessel model trial and animal angiography experiment.The robot system included the mechanical propulsion system,picture navigation and steering system and robot multiangle steering system.The remote robot system controlled by the surgeon finished the propulsion and rotation of the catheter in the vessel model and animal vessels under the 3D navigation,making the catheter reach the target vessel.Finally the operative time and success rate were counted and evaluated.Results In the vessel model trial,the catheter could enter into various kinds of vessel models whose inside diameter was more than 3 mm and the angle less than 90°.The success rate of manipulation decreased and the operative time increased along with the diminution of branch vessel diameter and the increase of angle between branch and parent vessels.In the animal（adult dogs） experiments,the surgeon smoothly finished the angiography of the renal artery,vertebral artery and common carotid artery,without any operative complications.Conclusions The angiography by using vascular interventional robot system is safe and reliable.The surgeon can finish the angiography partly by remote operation,with meeting purpose of simple angiography.But without the wire control system and force feedback system,the applicability of this kind of robot system need to be improved in the future for expanding its applied scope.