title: Application study of medical robots in vascular intervention.
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.
authors: Department of Neurosurgery, Navy General Hospital of PLA, 6 Fucheng Road, Beijing, 100048, China.
authors: Wang-sheng
authors: WS
authors: Lu
authors: Wu-yi
authors: WY
authors: Xu
authors: Jing
authors: J
authors: Zhang
authors: Da
authors: D
authors: Liu
authors: Da-min
authors: DM
authors: Wang
authors: Po
authors: P
authors: Jia
authors: Zhi-cao
authors: ZC
authors: Li
authors: Tian-miao
authors: TM
authors: Wang
authors: Da-peng
authors: DP
authors: Zhang
authors: Zeng-min
authors: ZM
authors: Tian
authors: Yanjun
authors: Y
authors: Zeng
mesh_terms: D000818:Animals; D057785:Catheters; D003196:Computer Graphics; D003198:Computer Simulation; D004285:Dogs; D004867:Equipment Design; D006801:Humans; D021621:Imaging, Three-Dimensional; D008297:Male; D019060:Minimally Invasive Surgical Procedures; D065287:Robotic Surgical Procedures / Q000379:methods*; D012371:Robotics / Q000295:instrumentation*; D013314:Stress, Mechanical; D025321:Surgery, Computer-Assisted / Q000379:methods*; D014584:User-Computer Interface; D014656:Vascular Surgical Procedures / Q000379:methods*