中华外科杂志
中華外科雜誌
중화외과잡지
CHINESE JOURNAL OF SURGERY
2012年
6期
543-546
,共4页
田增民%卢旺盛%刘达%王大明%郭书祥%徐武夷%贾博%赵德鹏%刘博%高宝丰
田增民%盧旺盛%劉達%王大明%郭書祥%徐武夷%賈博%趙德鵬%劉博%高寶豐
전증민%로왕성%류체%왕대명%곽서상%서무이%가박%조덕붕%류박%고보봉
外科手术,计算机辅助%外科手术,微创性%机器人%脑血管造影%动物实验
外科手術,計算機輔助%外科手術,微創性%機器人%腦血管造影%動物實驗
외과수술,계산궤보조%외과수술,미창성%궤기인%뇌혈관조영%동물실험
Surgery,computer-assisted%Surgery procedures,minimally invasive%Robotics%Cerebral angiography%Animal experiments
目的 验证第二代血管造影机器人(VIR-2型)系统应用于血管造影手术的可行性及安全性.方法 第二代血管造影机器人(VIR-2型)主要包括机构推进主从系统、三维图像导航系统和导管末端力反馈3个部分,对导管操作可实现自动控制及三维图像导航下运行,同时实时整合力反馈信息.实验进行体外血管模型预试验及狗的脑血管造影,外科医生通过远程控制血管造影机器人,将导管插入到预定的目标,最后评测导管定位误差及手术时间.结果 体外预试验血管模型内推进导管实验过程顺利,造影导管可以进入任意分支血管,导管定位误差＜1mm；动物脑血管造影术顺利,一次操作成功率为100％,整个实验过程分别用时26和30 min,较VIR-I型血管造影机器人有轻微提高,工作人员在DSA机下暴露时间为0min.导管末端力觉传感器可将阻力显示给操作者,为手术提供了安全保障.无手术并发症.结论 VIR-2型血管造影机器人系统是安全和可行的,可实现导管的远程操作和血管造影,主从系统符合传统操作特点,三维图像导航可指引手术顺利进行,导管末端力反馈提供远端导管实时的力觉信息,为手术提供安全保障.
目的 驗證第二代血管造影機器人(VIR-2型)繫統應用于血管造影手術的可行性及安全性.方法 第二代血管造影機器人(VIR-2型)主要包括機構推進主從繫統、三維圖像導航繫統和導管末耑力反饋3箇部分,對導管操作可實現自動控製及三維圖像導航下運行,同時實時整閤力反饋信息.實驗進行體外血管模型預試驗及狗的腦血管造影,外科醫生通過遠程控製血管造影機器人,將導管插入到預定的目標,最後評測導管定位誤差及手術時間.結果 體外預試驗血管模型內推進導管實驗過程順利,造影導管可以進入任意分支血管,導管定位誤差＜1mm；動物腦血管造影術順利,一次操作成功率為100％,整箇實驗過程分彆用時26和30 min,較VIR-I型血管造影機器人有輕微提高,工作人員在DSA機下暴露時間為0min.導管末耑力覺傳感器可將阻力顯示給操作者,為手術提供瞭安全保障.無手術併髮癥.結論 VIR-2型血管造影機器人繫統是安全和可行的,可實現導管的遠程操作和血管造影,主從繫統符閤傳統操作特點,三維圖像導航可指引手術順利進行,導管末耑力反饋提供遠耑導管實時的力覺信息,為手術提供安全保障.
목적 험증제이대혈관조영궤기인(VIR-2형)계통응용우혈관조영수술적가행성급안전성.방법 제이대혈관조영궤기인(VIR-2형)주요포괄궤구추진주종계통、삼유도상도항계통화도관말단력반궤3개부분,대도관조작가실현자동공제급삼유도상도항하운행,동시실시정합력반궤신식.실험진행체외혈관모형예시험급구적뇌혈관조영,외과의생통과원정공제혈관조영궤기인,장도관삽입도예정적목표,최후평측도관정위오차급수술시간.결과 체외예시험혈관모형내추진도관실험과정순리,조영도관가이진입임의분지혈관,도관정위오차＜1mm；동물뇌혈관조영술순리,일차조작성공솔위100％,정개실험과정분별용시26화30 min,교VIR-I형혈관조영궤기인유경미제고,공작인원재DSA궤하폭로시간위0min.도관말단력각전감기가장조력현시급조작자,위수술제공료안전보장.무수술병발증.결론 VIR-2형혈관조영궤기인계통시안전화가행적,가실현도관적원정조작화혈관조영,주종계통부합전통조작특점,삼유도상도항가지인수술순리진행,도관말단력반궤제공원단도관실시적력각신식,위수술제공안전보장.
Objective To verify the feasibility and safety of new vascular interventional robot system used in vascular interventional procedures.Methods Vascular interventional robot type-2 (VIR-2)included master-slave parts of body propulsion system,image navigation systems and force feedback system,the catheter movement could achieve under automatic control and navigation,force feedback was integrated real-time,followed by in vitro pre-test in vascular model and cerebral angiography in dog.Surgeon controled vascular interventional robot remotely,the catheter was inserted into the intended target,the catheter positioning error and the operation time would be evaluated.Results In vitro pre-test and animal experiment went well; the catheter can enter any branch of vascular.Catheter positioning error was less than 1 mm.The angiography operation in animal was carried out smoothly without complication; the success rateof the operation was 100％ and the entire experiment took 26 and 30 minutes,efficiency was slightly improved compared with the VIR-1,and the time what staff exposed to the DSA machine was 0 minute.The resistance of force sensor can he displayed to the operator to provide a security guarantee for the operation.No surgical complications.Conclusions VIR-2 is safe and feasible,and can achieve the catheter remote operation and angiography; the master-slave system meets the characteristics of traditional procedure.The three-dimensional image can guide the operation more smoothly; force feedback device provides remote realtime haptic information to provide security for the operation.
