Knowledge Commons of Institute of Automation,CAS
Design and Performance Evaluation of a Novel Vascular Robotic System for Complex Percutaneous Coronary Interventions | |
Han-Lin Zhao1,2![]() ![]() ![]() ![]() ![]() ![]() | |
2021-10 | |
会议名称 | 2021 43rd Annual International Conference of theIEEE Engineering in Medicine & Biology Society (EMBC) |
会议日期 | 2021.11.1 - 2021.11.5 |
会议地点 | Mexico |
出版者 | IEEE |
摘要 | The robotic-assisted percutaneous coronary intervention is an emerging technology with great potential tosolve the shortcomings of existing treatments. However, thecurrent robotic systems can not manipulate two guidewires or ballons/stents simultaneously for coronary bifurcation lesions.This paper presents VasCure, a novel bio-inspired vascular robotic system, to deliver two guidewires and stents into themain branch and side branch of bifurcation lesions in sequence. The system is designed in master-slave architecture to reduce occupational hazards of radiation exposure and orthopedic injury to interventional surgeons. The slave delivery device has one active roller and two passive rollers to manipulate two interventional devices. The performance of the VasCure was verified by in vitro and in vivo animal experiments. In vitro results showed the robotic system has good accuracy to deliverguidewires and the maximum error is 0.38mm. In an animal experiment, the interventional surgeon delivered two guidewires and balloons to the left circumflex branch and the left anterior descending branch of the pig, which confirmed the feasibility of the vascular robotic system. |
关键词 | sugical robot Intervention |
学科门类 | 工学 ; 工学::控制科学与工程 |
DOI | 10.1109/EMBC46164.2021.9629943 |
收录类别 | EI |
语种 | 中文 |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/48705 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Xiao-Liang Xie |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences 2.School of Artificial Intelligence, University of Chinese Academy of Sciences 3.CAS Center for Excellence in Brain Science and Intelligence Technology 4.China University of Mining and Technology |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Han-Lin Zhao,Shi-Qi Liu,Xiao-Hu Zhou,,et al. Design and Performance Evaluation of a Novel Vascular Robotic System for Complex Percutaneous Coronary Interventions[C]:IEEE,2021. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Design_and_Performan(4939KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 |
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