Hanyang Med Rev.  2016 Nov;36(4):225-229. 10.7599/hmr.2016.36.4.225.

Review of New Master/Slave Catheter Driving Vascular Intervention Robot System: Intervention Radiologist's Perspective

• Won JY
• Yi BJ
• Cha HJ

• KMID: 2361196
• DOI: http://doi.org/10.7599/hmr.2016.36.4.225

Abstract

The interventional procedure is a percutaneous treatment modality using various devices such as a guide-wire and a catheter under a minimal incision. It is usually done under a fluoroscopy (X-ray radiography) guidance, therefore the operator would be exposed to X-ray irradiation. Recently, a new procedure using a master-slave robotic system is proposed for the intervention procedure, especially in the era of vascular disease. Many state of art intervention robots are under development and this approach can drastically reduce radiation exposure by replacing human effort by a robotic system for high radiation exposure procedures. However, robotic intervention is still more expensive and needs more efficient end effector and easier human interface for a safer and faster procedure. This article provides a comprehensive summary of vascular intervention and necessity of the vascular intervention robot system.

Keyword

Vascular; Intervention; Master-slave; Robot; radiation

MeSH Terms

Catheters*
Fluoroscopy
Humans
Radiation Exposure
Vascular Diseases

Figure

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  Fig. 1 Picture of intervention procedure: It is usually performed under the fluoroscopy (X-ray radiography) after a full surgical drape of the patient and operator.

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  Fig. 2 Intervention Devices; (a)Puncture needle, (b)guide wire, (c) introducer sheath, (d)catheter

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  Fig. 3 Basic vascular intervention procedure. (a) Vascular puncture: The needle is used to puncture a femoral artery that is palpable typically in the groin under an ultrasound-guidance or palpation examination. (b) Insertion of the guide wire: The guide wire is inserted through the puncture needle. (c)Insertion of the introducer catheter: The introducer catheter is inserted along the guide wire. (d)Insertion of the catheter: The catheter is inserted along a guide wire through the inside of the introducer catheter.

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  Fig. 4 Radiation protection equipment. Clothing at about 10 Kg, lead glasses, and thyroid protectors.

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  Fig. 5 Our vascular intervention robot system under development. Animal experiment.

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