TY - JOUR
T1 - Telemanipulated Vascular Intervention System for Minimally Invasive Surgery
AU - Wei, Siyi
AU - Wu, Zhiwei
AU - Zhang, Jinhui
AU - Gu, Shaomeng
AU - Geng, Zhanxin
AU - Luo, Jiahao
AU - Gao, Yueyang
AU - Li, Zheng
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2024
Y1 - 2024
N2 - Minimally invasive surgery, as a promising treatment method for coronary heart disease and intracranial aneurysm, has received extensive research interest due to its appealing characteristics, e.g., the little surgical trauma, short rehabilitation time, determined curative effect, and less pain. However, the accumulated X-ray radiation during the percutaneous coronary intervention (PCI) and neurovascular intervention (NVI) greatly increases the probability of medical staff suffering from cataracts and brain tumors. In this article, the telemanipulated vascular intervention (TVI) system is presented, a compact and versatile vascular interventional system. The TVI system comprised of a leader joystick, a follower delivery device, and a graphical user interface is designed for intravascular delivery during the robot-assisted PCI and robot-assisted NVI. The performance of the TVI system is evaluated by demonstrating its ability to achieve telemanipulated navigation in the real-sized 3D cardio-cerebrovascular model with coronary stenosis and intracranial aneurysms. The experimental results demonstrate that the TVI system can navigate to 3 types of coronary stenosis, 6 types of cerebral artery, and an intracranial aneurysm with a diameter of 8 mm. To further demonstrate the performance of the TVI system, the robot-assisted renal artery angioplasty is conducted in a rabbit model for preclinical evaluation. These promising results indicate that the TVI system is capable of precisely manipulating the guidewire remotely, mitigating the health risks associated with prolonged exposure to X-ray radiation for interventionists.
AB - Minimally invasive surgery, as a promising treatment method for coronary heart disease and intracranial aneurysm, has received extensive research interest due to its appealing characteristics, e.g., the little surgical trauma, short rehabilitation time, determined curative effect, and less pain. However, the accumulated X-ray radiation during the percutaneous coronary intervention (PCI) and neurovascular intervention (NVI) greatly increases the probability of medical staff suffering from cataracts and brain tumors. In this article, the telemanipulated vascular intervention (TVI) system is presented, a compact and versatile vascular interventional system. The TVI system comprised of a leader joystick, a follower delivery device, and a graphical user interface is designed for intravascular delivery during the robot-assisted PCI and robot-assisted NVI. The performance of the TVI system is evaluated by demonstrating its ability to achieve telemanipulated navigation in the real-sized 3D cardio-cerebrovascular model with coronary stenosis and intracranial aneurysms. The experimental results demonstrate that the TVI system can navigate to 3 types of coronary stenosis, 6 types of cerebral artery, and an intracranial aneurysm with a diameter of 8 mm. To further demonstrate the performance of the TVI system, the robot-assisted renal artery angioplasty is conducted in a rabbit model for preclinical evaluation. These promising results indicate that the TVI system is capable of precisely manipulating the guidewire remotely, mitigating the health risks associated with prolonged exposure to X-ray radiation for interventionists.
KW - performance evaluation
KW - robot-assisted neurovascular intervention
KW - robot-assisted percutaneous coronary intervention
KW - telemanipulation
KW - Vascular robotic system
UR - http://www.scopus.com/inward/record.url?scp=85207279339&partnerID=8YFLogxK
U2 - 10.1109/TMRB.2024.3473299
DO - 10.1109/TMRB.2024.3473299
M3 - Article
AN - SCOPUS:85207279339
SN - 2576-3202
VL - 6
SP - 1512
EP - 1525
JO - IEEE Transactions on Medical Robotics and Bionics
JF - IEEE Transactions on Medical Robotics and Bionics
IS - 4
ER -