发表机构
Laboratory for Surgical Planning and Robot Cognition (SPARC)（外科规划与机器人认知实验室）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对血管内介入现有系统问题，提出紧凑型顶部加载机器人系统，通过主从控制策略实现连续运动，经实验评估其运动轮廓平滑，在体外条件下具技术可行性，紧凑设计利于临床整合，未来将改进相关性能。
AI 中文摘要
机器人辅助血管内介入可减少辐射暴露、改善外科医生人体工程学等，但现有系统存在程序覆盖受限问题。本文提出一种紧凑型机器人系统，由两个带气动膜夹爪的交替推车组成，采用顶部加载设计便于器械快速更换，通过主从控制策略实现连续运动。经运动跟踪实验和体外血管模型评估，结果表明该系统运动轮廓平滑，在体外条件下具有技术可行性，紧凑设计利于器械更换和临床工作流程整合，未来将聚焦改进抓握性能等。
英文摘要
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.
