[Experimental study of angiography using vascular interventional robot].
OBJECTIVE
To assess the feasibility and safety of vascular interventional surgery by using vascular interventional robot system (VIRS).


METHODS
VIRS included image navigation systems and body propulsion systems, and adopted a master-slave structure. The surgeon sat at the master site, sending controlling instructions to the robot fixed at the slave site, and then the robot translated these instructions into catheter motion. A 3D vascular model was reconstructed so that the surgeon can perform surgical planning easily. In glass model and animal experiments, the surgeon remotely controlled VIRS, which inserted a catheter into predefined targets, and the catheter positioning error and robotic surgery time were measured.


RESULTS
The robot was initially tested on a glass vascular model. Under robotic manipulation, the catheter could enter an arbitrary branch of the vascular model. The catheter positioning error was less than 1 mm. Then robotic interventional surgery was performed successfully in ten adult dogs. The renal artery and the vertebral artery angiography carried out smoothly without complication. Experiment took 35 minutes, and the time what staff exposed to the digital subtraction angiography (DSA) machine was 0 minute.


CONCLUSIONS
Vascular interventional surgical robot system is safe and feasible, and can achieve the catheter remote operation, meet the requirements of angiography basically.
Department of Neurosurgery, Navy General Hospital of People's Liberation Army, Beijing 100048, China. tianzengmin@vip.sina.com
Zeng-Min
ZM
Tian
Wang-Sheng
WS
Lu
Da-Ming
DM
Wang
Da
D
Liu
Da-Peng
DP
Zhang
Zhi-Chao
ZC
Li
Bo
B
Jia
D000792:Angiography; D000818:Animals; D004285:Dogs; D005240:Feasibility Studies; D012371:Robotics; D025321:Surgery, Computer-Assisted / Q000295:instrumentation; D014656:Vascular Surgical Procedures / Q000295:instrumentation* / Q000379:methods