开发可精准对齐的机器人导管系统，提升主动脉瓣置换手术精度。
Design and Development of a Robotic Transcatheter Delivery System for Aortic Valve Replacement
- 设计全向弯曲关节与驱动系统，实现导管精确定位。
- 初步实验验证系统功能可行，提升操作精度。
- 适合介入心脏病学与机器人手术研究者参考。
微创经导管治疗主动脉瓣狭窄的应用日益广泛，其中瓣叶开口与冠状动脉的精确对齐至关重要。尽管现有机器人经导管主动脉瓣置换（TAVR）设备已较先进，但该对齐任务仍需手动完成，临床挑战大。本文提出一种新型机器人经导管递送系统，包含全向弯曲关节和专用驱动机构，旨在提升TAVR手术中的位置精度与操作准确性。初步实验结果验证了该系统功能的可行性，为提高手术可控性提供了新路径。
原文摘要 · Abstract (English)
Minimally invasive transcatheter approaches are increasingly adopted for aortic stenosis treatment, where optimal commissural and coronary alignment is important. Achieving precise alignment remains clinically challenging, even with contemporary robotic transcatheter aortic valve replacement (TAVR) devices, as this task is still performed manually. This paper proposes the development of a robotic transcatheter delivery system featuring an omnidirectional bending joint and an actuation system designed to enhance positional accuracy and precision in TAVR procedures. The preliminary experimental results validate the functionality of this novel robotic system.
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