7 DOF 혈관중재시술로봇 시스템 평가를 위한 동물실험

Abstract

Vascular interventional radiology (VIR) is a procedure that a catheter is inserted into the blood vessel percutaneously. Since X-ray images are taken in real time during the procedure for confirmation of the position of the catheter in the blood vessel, both patient and operator are exposed to radiation. Therefore, we have developed 7 DOF master-slave robot systems which controls catheter, guidewire, micro catheter and micro guidewire to reduce the radiation dose during the VIR [9]. A mounting device is implemented for easy installation of the slave robot to a bed and safety for a patient. In vivo experiments are performed to evaluate the 7 DOF master-slave system with pig model. Target for 7 DOF master-slave robot systems was hepatic artery, the radiation dose during the robotic procedure was reduced by more than 80% compared to the conventional procedure.