可穿戴血管介入手术机器人系统的设计与评估
Design and evaluation of a wearable vascular interventional surgical robot system.
作者信息
Yu Haoyang, Wang Hongbo, Rong Yu, Fang Junyu, Niu Jianye
机构信息
Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei, China.
Academy for Engineering & Technology, Fudan University, Shanghai, China.
出版信息
Int J Med Robot. 2023 Dec 22:e2616. doi: 10.1002/rcs.2616.
BACKGROUND
Remote-controlled robotic vascular interventional surgery can reduce radiation exposure to interventional physicians and improve safety. However, inconvenient operation and lack of force feedback limit its application.
MATERIALS AND METHODS
A new wearable robotic system for vascular interventional surgery is designed, which is more flexible in operation. It ensures the safety of surgery through haptic force feedback. The system was evaluated by human vascular models and animal experiments.
RESULTS
The average static error of the system is 0.048 mm when the axial motion is 250 mm and 1.259° when the rotational motion is 400°. The average error of the force feedback is 0.021 N. The results of vascular model experiments and animal experiments demonstrate the feasibility and safety of the system.
CONCLUSIONS
The proposed robotic system can assist physicians in remotely delivering standard catheters or guidewires. The system is more flexible and uses haptic force feedback to ensure surgical safety.
背景
遥控机器人血管介入手术可减少介入医生的辐射暴露并提高安全性。然而，操作不便和缺乏力反馈限制了其应用。
材料与方法
设计了一种用于血管介入手术的新型可穿戴机器人系统，其操作更灵活。它通过触觉力反馈确保手术安全。该系统通过人体血管模型和动物实验进行评估。
结果
当轴向运动为250毫米时，系统的平均静态误差为0.048毫米；当旋转运动为400°时，平均静态误差为1.259°。力反馈的平均误差为0.021牛。血管模型实验和动物实验结果证明了该系统的可行性和安全性。
结论
所提出的机器人系统可协助医生远程输送标准导管或导丝。该系统更灵活，并使用触觉力反馈来确保手术安全。
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