【摘要】 传统血管介入手术依靠C形臂旋转及对比剂应用成像,存在3D图像信息丢失和加重肾脏负担问题,同时操作者在长期X射线暴露及铅防护围裙负重中承担了较高的职业危害风险。机器人辅助血管介入系统具有明显减少操作者X射线暴露、成像定位精准、操作准确稳定的优点,在减少器械与血管壁接触、操作颤抖的同时,增加操作者舒适感。本文旨在总结血管介入机器人系统的发展及其临床应用,并探讨该系统的未来发展方向。更多还原

【Abstract】 Traditional vascular intervention relies on C-arm rotation and use of contrast to obtain imaging, which results in the loss of 3D-image information and increased burden on kidney. Moreover,interventional operators bear higher occupational hazard risk under longtime X-ray exposure and the heavy burden of lead protection apron. Robot-assisted vascular intervention system carries certain advantages, it can significantly reduce the X-ray exposure to operators, obtain precise localization of lesions as well as accurate and stable manipulation. While reducing the contact of the instruments with the vascular wall and the operation tremor, it can improve operator’s comfortable sensation. This paper aims to make a detailed summary about the development of robot-assisted vascular intervention system and its clinical application. The future development directions of robot-assisted vascular intervention system is also discussed.更多还原