机器人自动完成猪模型失血性休克下的股血管穿刺
Automatic Cannulation of Femoral Vessels in a Porcine Shock Model
- 结合机器人超声与自动穿刺，实现股静脉/动脉精准置管
- 在失血性休克猪模型中成功完成100%的血管穿刺
- 为急救场景下无人化血管通路建立提供关键技术验证
创伤与危重症救治中，快速可靠的血管通路至关重要。中心血管置管可支持大容量复苏、血流动力学监测及体外膜肺氧合（ECMO）等高级干预。尽管外周通路常见，但中心通路常需超声引导的专科技能，在院前环境中面临挑战。难点在于深部目标血管及穿刺精度要求高。传统技术如Seldinger法依赖经验，易引发并发症。尽管重要，超声引导中心通路因现场专家不足而未普及。虽已有外周血管自主穿刺研究，但股血管仍仅限半自动化。本研究推进至全自动化，集成机器人超声系统，实现微创紧急手术。核心贡献是在猪失血性休克模型中成功完成股静脉与股动脉穿刺。
原文摘要 · Abstract (English)
Rapid and reliable vascular access is critical in trauma and critical care. Central vascular catheterization enables high-volume resuscitation, hemodynamic monitoring, and advanced interventions like ECMO and REBOA. While peripheral access is common, central access is often necessary but requires specialized ultrasound-guided skills, posing challenges in prehospital settings. The complexity arises from deep target vessels and the precision needed for needle placement. Traditional techniques, like the Seldinger method, demand expertise to avoid complications. Despite its importance, ultrasound-guided central access is underutilized due to limited field expertise. While autonomous needle insertion has been explored for peripheral vessels, only semi-autonomous methods exist for femoral access. This work advances toward full automation, integrating robotic ultrasound for minimally invasive emergency procedures. Our key contribution is the successful femoral vein and artery cannulation in a porcine hemorrhagic shock model.
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