用机器人控制提升心脏瓣膜修复手术的精准度与效率
Using Robotics to Improve Transcatheter Edge-to-Edge Repair of the Mitral Valve
- 用游戏手柄式机器人控制替代传统手动操作，提升操作直观性
- 在模拟人体模型中，机器人系统将手术时间缩短、夹子定位误差减少
- 适合需要高精度的介入心脏病学医生或培训新人使用
经导管瓣膜修复因手动导管系统存在机械限制和陡峭的学习曲线而面临重大挑战。本文研究了机器人技术在二尖瓣缘对缘修复术中的应用。复杂的基于手柄的设备操控被改为通过游戏控制器实现的直观机器人关节控制。通过将整体导管输送任务分解为具体运动步骤，在心脏和血管的仿体模型中对比了手动与机器人的表现，评估指标包括手术时长和夹子放置精度。结果表明，机器人系统可显著减少手术时间与运动误差，提升夹子定位准确性。这些发现表明，机器人辅助能有效解决手动系统的关键缺陷，为复杂经导管手术提供更可靠、易用的操作平台。
原文摘要 · Abstract (English)
Transcatheter valve repair presents significant challenges due to the mechanical limitations and steep learning curve associated with manual catheter systems. This paper investigates the use of robotics to facilitate transcatheter procedures in the context of mitral valve edge-to-edge repair. The complex handle-based control of a clinical repair device is replaced by intuitive robotic joint-based control via a game controller. Manual versus robotic performance is analyzed by decomposing the overall device delivery task into motion-specific steps and comparing capabilities on a step-by-step basis in a phantom model of the heart and vasculature. Metrics include procedure duration and clip placement accuracy. Results demonstrate that the robotic system can reduce procedural time and motion errors while also improving accuracy of clip placement. These findings suggest that robotic assistance can address key limitations of manual systems, offering a more reliable and user-friendly platform for complex transcatheter procedures.
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