Song Chao, Xia Shibo, Zhang Hao, Zhang Lei, Li Xiaoye, Wang Kundong, Lu Qingsheng
Department of Vascular Surgery, Shanghai Changhai Hospital, Navy Medical University, Shanghai 200433, China.
Department of Instrument Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, China.
Micromachines (Basel). 2022 Sep 24;13(10):1587. doi: 10.3390/mi13101587.
Endovascular therapy has emerged as a crucial therapeutic method for treating vascular diseases. Endovascular surgical robots have been used to enhance endovascular therapy. However, to date, there are no universal endovascular surgical robots that support molds of different types of devices for treating vascular diseases. We developed a novel endovascular surgical robotic system that can independently navigate the intravascular region, advance and retract devices, and deploy stents. This robot has four features: (1) The bionic design of the robot can fully simulate the entire grasping process; (2) the V-shaped relay gripper waived the need to redesign special guidewires and catheters for continuous rotation; (3) the handles designed based on the feedback mechanism can simulate push resistance and reduce iatrogenic damage; and (4) the detachable design of the grippers can reduce cross-infection risk and medical costs. We verified its performance by demonstrating six different types of endovascular surgeries. Early evaluation of the novel endovascular robotic system demonstrated its practicability and safety in endovascular surgeries.
血管内治疗已成为治疗血管疾病的关键治疗方法。血管内手术机器人已被用于增强血管内治疗。然而，迄今为止，尚无支持用于治疗血管疾病的不同类型器械模具的通用血管内手术机器人。我们开发了一种新型血管内手术机器人系统，该系统可以在血管内区域自主导航，推进和缩回器械，并部署支架。该机器人具有四个特点：（1）机器人的仿生设计可以充分模拟整个抓取过程；（2）V形中继夹爪无需重新设计特殊导丝和导管以进行连续旋转；（3）基于反馈机制设计的手柄可以模拟推压阻力并减少医源性损伤；（4）夹爪的可拆卸设计可以降低交叉感染风险和医疗成本。我们通过演示六种不同类型的血管内手术验证了其性能。对新型血管内机器人系统的早期评估证明了其在血管内手术中的实用性和安全性。
