Int J Med Robot - A remote-controlled vascular interventional robot: system structure and image guidance.

Tópicos

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Resumo

CKGROUND: Robot-assisted vascular interventional surgery (VIS) enables the surgeon to teleoperate a catheter in a safe cabinet, such that exposure to X-ray radiation is reduced. For safe and accurate teleoperation, system structure and image guidance is important.METHODS: The system structure of the developed remote-controlled vascular interventional robot (RVIR) and its image guidance system (IGS) are introduced. RVIR is based on a master-slave structure. Key technologies of IGS are addressed, including C-arm calibration, distortion correction, catheter localization and 3D vasculature reconstruction.RESULTS: Experiments show that the RMS error of distortion correction is 0.35 pixels, and 0.53 mm for distance reconstruction. The error in catheter localization between the IGS and the encoders is small. In vitro and in vivo tests verified the feasibility of RVIR.CONCLUSIONS: Experiments indicate that the RVIR is feasible and valid to help the surgeon perform VIS remotely; the function and reconstruction accuracy of IGS can satisfy the surgeon's requirement to guide the RVIR.

Resumo Limpo

ckground robotassist vascular intervent surgeri vis enabl surgeon teleoper cathet safe cabinet exposur xray radiat reduc safe accur teleoper system structur imag guidanc importantmethod system structur develop remotecontrol vascular intervent robot rvir imag guidanc system ig introduc rvir base masterslav structur key technolog ig address includ carm calibr distort correct cathet local d vasculatur reconstructionresult experi show rms error distort correct pixel mm distanc reconstruct error cathet local ig encod small vitro vivo test verifi feasibl rvirconclus experi indic rvir feasibl valid help surgeon perform vis remot function reconstruct accuraci ig can satisfi surgeon requir guid rvir

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