title: [Experimental study of angiography using vascular interventional robot-2(VIR-2)].
abstract: 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 controlled 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 rate of 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 be 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 real-time haptic information to provide security for the operation.
authors.affiliation: Neurosurgery Institute of Navy General Hospital, Beijing 100048, China. tianzengmin@sina.com
authors.forename: Zeng-min
authors.initials: ZM
authors.lastname: Tian
authors.forename: Wang-sheng
authors.initials: WS
authors.lastname: Lu
authors.forename: Da
authors.initials: D
authors.lastname: Liu
authors.forename: Da-ming
authors.initials: DM
authors.lastname: Wang
authors.forename: Shu-xiang
authors.initials: SX
authors.lastname: Guo
authors.forename: Wu-yi
authors.initials: WY
authors.lastname: Xu
authors.forename: Bo
authors.initials: B
authors.lastname: Jia
authors.forename: De-peng
authors.initials: DP
authors.lastname: Zhao
authors.forename: Bo
authors.initials: B
authors.lastname: Liu
authors.forename: Bao-feng
authors.initials: BF
authors.lastname: Gao
mesh_terms: D000792:Angiography / Q000295:instrumentation*; D000818:Animals; D004285:Dogs; D005240:Feasibility Studies; D008297:Male; D012371:Robotics