ROSES 是唯一用于任何血管内手术的机器人系统,包括控制以两个可控曲率为特征的动画导管

Guido Danieli, S. De Rosa, P. Greco, C. Indolfi, Gabriele Larocca, Massimo Massetti, G. Tinelli, Y. Tshomba
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引用次数: 0

摘要

本文介绍了 ROSES、其机器人组件、不同的设备(不一定是无菌的)及其一次性用品,它们适用于任何血管内手术,包括实际进行的手术和目前没有任何机器人系统辅助的手术,以及未来可能出现的新应用,如新型动画导管。事实上,这要归功于机器人执行器的机械结构,它基于一个奇特的齿轮系,呈现出一个大的通道孔,既可以通过大导管甚至止血阀,也可以完全控制非常小的导管和导丝。该系统可以测量人体所受的反作用力,并以数字或模拟方式显示其数值,无需使用任何特殊工具,还可以测量每根导管和导丝的穿透长度,并记录其数值。因此,该系统将来可能会与一个工作站相连,该工作站将实时记录透视图像,成为血管内手术的黑匣子,将医生和护士与病人完全隔离开来,并使用摄像机和麦克风取代与病人的身体接触。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
ROSES, the only RObotic System for any Endovascular Surgery, Including the Control of an Animated Catheter Characterized by the Presence of two Controlled Curvatures
The paper presents ROSES, its robotic components, the different devices, not necessarily sterile, and its disposables, suitable for any endovascular procedure, both actually performed and presently not assisted by any robotic system, and open in the future for new application yet to come, such as what will be allowed by the new animated catheter. In fact, this is due to the mechanical configuration of the robotic actuators based on a peculiar gear train which presents a big passage hole which allows both the passage of big catheters and even hemostasis valves, as well as full control of very small catheters and guide wires. The system measures forces opposed by the body showing their value both numerically and analogically without the need of any. special tool, measures length of penetration of each catheter and guide wires recording their value. Thus, it may become in future, connected to a work station that will register in real time also the fluoroscopic images, a kind of black box of endovascular surgeries, separating completely doctor and nurses from the patient, using also cameras and microphones to replace the physical contact with the patient.
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