小型顶装机器人实现导管导丝连续操控，提升介入手术效率与安全性。
A Compact Top-Loading Robot for Endovascular Interventions: Design, Control and Evaluation
- 顶装设计+气动膜夹持器，支持快速换工具
- 平移误差3.6%，旋转误差4.1%，运动平滑稳定
- 适合需频繁换器械的血管介入场景
机器人辅助血管介入可降低辐射暴露、改善术者操作体验、支持远程手术和主动辅助，但现有系统因患者侧装置受限、灵活性差及器械更换复杂，难以融入临床流程。本文提出一种紧凑型机器人系统，可对标准血管器械实现连续平移与旋转操控。系统由两组交替运行的推车组成，配备气动膜夹持器，集成于旋转夹持齿轮中。其顶装结构可在不改变机器人配置的情况下快速更换导丝、导管等器械。采用主从控制策略，克服单个推车行程有限的问题，实现连续运动。在导丝与导管的运动追踪实验中，平均相对追踪误差为3.6%（平移）和4.1%（旋转），运动轨迹整体平滑。在体外血管模型测试中，机器人导航多数试验成功抵达目标，验证了该操控构想在体外条件下的可行性。该系统在台架与体外实验中展示了对标准血管器械连续操控的技术可行性。紧凑的顶装设计有助于简化器械更换与临床流程整合。未来工作将聚焦于提升夹持性能、驱动速度、力反馈能力，并在更贴近临床的环境下评估。
原文摘要 · Abstract (English)
Robot-assisted endovascular intervention can potentially reduce radiation exposure, improve surgeon ergonomics, enable telesurgery, support active assistance and autonomy, and enhance procedural precision. However, existing systems often suffer from limited procedural coverage because constrained patient-side setups, restricted flexibility, and complex instrument exchange hinder clinical workflow integration. This work presents a compact robotic system for endovascular interventions that enables continuous translational and rotational manipulation of standard endovascular instruments. The system consists of two alternating carts with pneumatically actuated membrane grippers integrated into rotating gripper gears. Its top-loading design allows rapid exchange of instruments such as guidewires and catheters without changing the robotic setup. A leader-follower control strategy enables continuous motion despite the finite stroke of each cart. The system was evaluated in motion-tracking experiments with guidewires and catheters and in an in vitro vascular phantom. The motion-tracking experiments showed generally smooth translational and rotational motion profiles. Across all tested guidewire and catheter experiments, the mean relative tracking errors were 3.6% for translational motion and 4.1% for rotational motion. In the vascular phantom, robot-assisted navigation reached the target in most trials, demonstrating the feasibility of the proposed manipulation concept under in vitro conditions. The presented robotic system demonstrates technical feasibility for continuous manipulation of standard endovascular instruments in bench-top and in vitro experiments. The compact top-loading design may ease instrument exchange and clinical workflow integration. Future work will focus on improving gripping performance, actuation speed, force feedback, and evaluation in more clinically realistic settings.
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