Tavallaei Mohammad Ali, Gelman Daniel, Lavdas Michael Konstantine, Skanes Allan C, Jones Douglas L, Bax Jeffrey S, Drangova Maria
Robarts Research Institute, Schulich School of Medicine and Dentistry, University of Western Ontario, London, ON, Canada.
Biomedical Engineering Graduate Programme, University of Western Ontario, London, ON, Canada.
Int J Med Robot. 2016 Sep;12(3):442-52. doi: 10.1002/rcs.1711. Epub 2015 Nov 3.
Remote catheter navigation systems protect interventionalists from scattered ionizing radiation. However, these systems typically require specialized catheters and extensive operator training.
A new compact and sterilizable telerobotic system is described, which allows remote navigation of conventional tip-steerable catheters, with three degrees of freedom, using an interface that takes advantage of the interventionalist's existing dexterity skills. The performance of the system is evaluated ex vivo and in vivo for remote catheter navigation and ablation delivery.
The system has absolute errors of 0.1 ± 0.1 mm and 7 ± 6° over 100 mm of axial motion and 360° of catheter rotation, respectively. In vivo experiments proved the safety of the proposed telerobotic system and demonstrated the feasibility of remote navigation and delivery of ablation.
The proposed telerobotic system allows the interventionalist to use conventional steerable catheters; while maintaining a safe distance from the radiation source, he/she can remotely navigate the catheter and deliver ablation lesions. Copyright © 2015 John Wiley & Sons, Ltd.
远程导管导航系统可保护介入医生免受散射电离辐射。然而，这些系统通常需要专用导管和大量的操作员培训。
描述了一种新型紧凑且可消毒的远程机器人系统，该系统允许使用利用介入医生现有灵巧技能的接口，对具有三个自由度的传统尖端可控导管进行远程导航。对该系统在体外和体内进行了评估，以用于远程导管导航和消融输送。
该系统在100毫米轴向运动和360°导管旋转过程中的绝对误差分别为0.1±0.1毫米和7±6°。体内实验证明了所提出的远程机器人系统的安全性，并证明了远程导航和消融输送的可行性。
所提出的远程机器人系统允许介入医生使用传统的可控导管；在与辐射源保持安全距离的同时，他/她可以远程导航导管并输送消融病灶。版权所有©2015约翰威立父子有限公司。
