Application study of medical robots in vascular intervention
Identifieur interne : 003257 ( Main/Merge ); précédent : 003256; suivant : 003258Application study of medical robots in vascular intervention
Auteurs : Wang Heng Lu [République populaire de Chine] ; Wu I Xu [République populaire de Chine] ; Jing Zhang [République populaire de Chine] ; Da Liu [République populaire de Chine] ; Da In Wang [République populaire de Chine] ; Po Jia [République populaire de Chine] ; Zhi Ao Li [République populaire de Chine] ; Tian Iao Wang [République populaire de Chine] ; Da Eng Zhang [République populaire de Chine] ; Zeng In Tian [République populaire de Chine] ; Yanjun Zeng [République populaire de Chine]Source :
- The International Journal of Medical Robotics and Computer Assisted Surgery [ 1478-5951 ] ; 2011-09.
English descriptors
Abstract
Background: Based on the background of minimally invasive surgery and applications of medical robots, a vascular interventional robotic system has been developed that can be used in the field of vascular intervention. Methods: The robotic system comprises a propulsion system, an image navigation system and a virtual surgery training system. Integration of the three systems constitutes a vascular intervention prototype robotic system used to carry out in vitro vascular intervention and animal experiments. Results: On a transparent glass vascular model, a catheter was shown to enter an arbitrary branch of the vascular model with catheter motion meeting the requirements of clinical vascular intervention surgery (VIS); i.e. error band of catheter motion < 0.5 mm. In the animal experiments, 1.33–2.00 mm (4F–6F) diameter catheters were selectively inserted successfully into predefined targets in the animal, such as the renal, cardiovascular and cerebrovascular artery. Compared with conventional manual surgery, the time for robotic surgery is a little longer. There were no operative complications in the animal experiments. Conclusions: These simulation and animal study results demonstrate that this vascular interventional robotic system allows doctors to perform angiography remotely and prevents them from radiation exposure. The system may be the basis for further clinical applications of vascular intervention. Copyright © 2011 John Wiley & Sons, Ltd.
Url:
DOI: 10.1002/rcs.406
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Li</name></author><author><name sortKey="Wang, Tian Iao" sort="Wang, Tian Iao" uniqKey="Wang T" first="Tian Iao" last="Wang">Tian Iao Wang</name></author><author><name sortKey="Zhang, Da Eng" sort="Zhang, Da Eng" uniqKey="Zhang D" first="Da Eng" last="Zhang">Da Eng Zhang</name></author><author><name sortKey="Tian, Zeng In" sort="Tian, Zeng In" uniqKey="Tian Z" first="Zeng In" last="Tian">Zeng In Tian</name></author><author><name sortKey="Zeng, Yanjun" sort="Zeng, Yanjun" uniqKey="Zeng Y" first="Yanjun" last="Zeng">Yanjun Zeng</name></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:D53DB26C904FE022EDA0FA850EFE9B160FB50045</idno><date when="2011" year="2011">2011</date><idno type="doi">10.1002/rcs.406</idno><idno type="url">https://api.istex.fr/document/D53DB26C904FE022EDA0FA850EFE9B160FB50045/fulltext/pdf</idno><idno type="wicri:Area/Istex/Corpus">000B60</idno><idno type="wicri:Area/Istex/Curation">000B60</idno><idno 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PLA, 6 Fucheng Road, Beijing, 100048</wicri:regionArea><wicri:noRegion>100048</wicri:noRegion></affiliation></author><author><name sortKey="Zhang, Jing" sort="Zhang, Jing" uniqKey="Zhang J" first="Jing" last="Zhang">Jing Zhang</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Biomechanics and Medical Information Institute, Beijing University of Technology, Beijing 100022</wicri:regionArea><placeName><settlement type="city">Pékin</settlement></placeName></affiliation></author><author><name sortKey="Liu, Da" sort="Liu, Da" uniqKey="Liu D" first="Da" last="Liu">Da Liu</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100022</wicri:regionArea><placeName><settlement type="city">Pékin</settlement></placeName></affiliation></author><author><name sortKey="Wang, Da In" sort="Wang, Da In" uniqKey="Wang D" first="Da In" last="Wang">Da In Wang</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Department of Neurosurgery, Beijing Hospital, Beijing 100730</wicri:regionArea><placeName><settlement type="city">Pékin</settlement></placeName></affiliation></author><author><name sortKey="Jia, Po" sort="Jia, Po" uniqKey="Jia P" first="Po" last="Jia">Po Jia</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Department of Neurosurgery, Navy General Hospital of PLA, 6 Fucheng Road, Beijing, 100048</wicri:regionArea><wicri:noRegion>100048</wicri:noRegion></affiliation></author><author><name sortKey="Li, Zhi Ao" sort="Li, Zhi Ao" uniqKey="Li Z" first="Zhi Ao" last="Li">Zhi Ao Li</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Department of Neurosurgery, Navy General Hospital of PLA, 6 Fucheng Road, Beijing, 100048</wicri:regionArea><wicri:noRegion>100048</wicri:noRegion></affiliation></author><author><name sortKey="Wang, Tian Iao" sort="Wang, Tian Iao" uniqKey="Wang T" first="Tian Iao" last="Wang">Tian Iao Wang</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100022</wicri:regionArea><placeName><settlement type="city">Pékin</settlement></placeName></affiliation></author><author><name sortKey="Zhang, Da Eng" sort="Zhang, Da Eng" uniqKey="Zhang D" first="Da Eng" last="Zhang">Da Eng Zhang</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100022</wicri:regionArea><placeName><settlement type="city">Pékin</settlement></placeName></affiliation></author><author><name sortKey="Tian, Zeng In" sort="Tian, Zeng In" uniqKey="Tian Z" first="Zeng In" last="Tian">Zeng In Tian</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Department of Neurosurgery, Navy General Hospital of PLA, 6 Fucheng Road, Beijing, 100048</wicri:regionArea><wicri:noRegion>100048</wicri:noRegion></affiliation><affiliation wicri:level="1"><country xml:lang="fr" wicri:curation="lc">République populaire de Chine</country><wicri:regionArea>Zeng‐min Tian, Department of Neurosurgery, Navy General Hospital of PLA, Beijing, 100048, China.===Yanjun Zeng, Biomechanics and Medical Information Institute, Beijing University of Technology, Beijing 100022</wicri:regionArea><placeName><settlement type="city">Pékin</settlement></placeName></affiliation></author><author><name sortKey="Zeng, Yanjun" sort="Zeng, Yanjun" uniqKey="Zeng Y" first="Yanjun" last="Zeng">Yanjun Zeng</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de 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J. Med. Robotics Comput. Assist. Surg.</title><idno type="ISSN">1478-5951</idno><idno type="eISSN">1478-596X</idno><imprint><publisher>John Wiley & Sons, Ltd.</publisher><pubPlace>Chichester, UK</pubPlace><date type="published" when="2011-09">2011-09</date><biblScope unit="volume">7</biblScope><biblScope unit="issue">3</biblScope><biblScope unit="page" from="361">361</biblScope><biblScope unit="page" to="366">366</biblScope></imprint><idno type="ISSN">1478-5951</idno></series><idno type="istex">D53DB26C904FE022EDA0FA850EFE9B160FB50045</idno><idno type="DOI">10.1002/rcs.406</idno><idno type="ArticleID">RCS406</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">1478-5951</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>images navigation</term><term>medical robot</term><term>vascular intervention</term></keywords></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Background: Based on the background of minimally invasive surgery and applications of medical robots, a vascular interventional robotic system has been developed that can be used in the field of vascular intervention. Methods: The robotic system comprises a propulsion system, an image navigation system and a virtual surgery training system. Integration of the three systems constitutes a vascular intervention prototype robotic system used to carry out in vitro vascular intervention and animal experiments. Results: On a transparent glass vascular model, a catheter was shown to enter an arbitrary branch of the vascular model with catheter motion meeting the requirements of clinical vascular intervention surgery (VIS); i.e. error band of catheter motion < 0.5 mm. In the animal experiments, 1.33–2.00 mm (4F–6F) diameter catheters were selectively inserted successfully into predefined targets in the animal, such as the renal, cardiovascular and cerebrovascular artery. Compared with conventional manual surgery, the time for robotic surgery is a little longer. There were no operative complications in the animal experiments. Conclusions: These simulation and animal study results demonstrate that this vascular interventional robotic system allows doctors to perform angiography remotely and prevents them from radiation exposure. The system may be the basis for further clinical applications of vascular intervention. Copyright © 2011 John Wiley & Sons, Ltd.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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