可穿戴式血管介入手术机器人系统的设计与评估。

IF 2.3 3区医学 Q2 SURGERY International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-12-22 DOI:10.1002/rcs.2616

Haoyang Yu, Hongbo Wang, Yu Rong, Junyu Fang, Jianye Niu

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引用次数: 0

摘要

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：设计了一种新型可穿戴式血管介入手术机器人系统，其操作更加灵活。材料：设计了一种用于血管介入手术的新型可穿戴机器人系统，该系统操作更灵活，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了评估：结果：当轴向运动为 250 mm 时，系统的平均静态误差为 0.048 mm；当旋转运动为 400° 时，系统的平均静态误差为 1.259°；力反馈的平均误差为 0.021 N：结论：拟议的机器人系统可协助医生远程递送标准导管或导丝。该系统更加灵活，并利用触觉力反馈确保手术安全。

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Design and evaluation of a wearable vascular interventional surgical robot system

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.

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.