摘要
目的通过动物实验评估5G技术远程操控血管介入机器人(R-One^(TM))辅助经皮冠状动脉介入治疗(PCI)的有效性与安全性。方法选取实验猪3头,平均体质量(32±1)kg。每头实验猪各选取两支冠状动脉血管,分别设为实验组(5G网络下R-OneTM远程辅助PCI)和对照组(R-One^(TM)本地辅助PCI)完成猪的PCI手术。记录手术时长、对比剂用量、围术期手术安全性等,手术结束当天处死动物(安乐死),进行解剖取样,分离靶血管进行病理分析。同时记录网络延时、数据包丢失及术者远程操作评价。结果实验组和对照组PCI成功率均100%,无围术期不良事件,PCI后心肌梗死溶栓治疗试验血流分级Ⅲ级,无分支丢失及冠状动脉穿孔。实验组未发生中途切换本地操作。手术期间5G远程乌鲁木齐-上海网络信号往返时间(RTT)延时平均106.66 ms(87.94~1927.12 ms),数据包丢失率0.8256%、断网后网络恢复时间<10 s;北京-上海网络信号RTT延时平均60.43 ms(40.61~377.77 ms),数据包丢失率0.0550%、断网后网络恢复时间<10 s。远程主-从端术者操作评价几乎无延时;术中数字减影血管造影(DSA)影像质量非常清晰,传输几乎无延时;术中远程音视频传输几乎无延时,传输稳定且质量高;从端器械操控非常灵活。整个实验过程中R-OneTM机器人系统未出现任何软件及硬件故障,所有动物术中及术后未出现相应的介入并发症,术后动物解剖未发现冠状动脉夹层及穿孔等严重不良事件。结论本研究验证了5G技术远程操控R-OneTM行PCI手术的安全性和有效性,为今后临床应用这一技术提供理论和实践依据。
Objective To evaluate the effectiveness and safety of 5G technology remote control vascular intervention robot(R-One^(TM))assisted percutaneous coronary intervention(PCI)through animal experiments.Methods Three experimental pigs with mean weight of(32±1)kg were selected,and two coronary arteries were selected from each experimental pig.They were divided into an experimental TM TM group(R-One remote assisted PCI under 5G network)and a control group(R-One local assisted PCI)to complete PCI surgery in pigs.The surgical duration,contrast agent dosage,perioperative surgical safety,etc.,were recorded.Euthanize the animals on the day of surgery,perform anatomical sampling,and separate the target blood vessels for pathological analysis.Simultaneously record network latency,packet loss,and operator remote operation evaluations.Results The success rate of PCI in all experimental and control groups was 100%,with no perioperative adverse events,thrombolysis in myocardial infarction grade 3 blood flow after PCI,and no branch loss or coronary perforation.The experimental group did not experience any midway switching of local operations.During the surgery,the average network signal round-trip time(RTT)delay between the 5G remote master and slave terminals in Urumqi Shanghai was 106.66 ms(87.94–1927.12 ms),with a packet loss rate of 0.8256%and a network recovery time of less than 10 seconds after disconnection.The average network signal RTT delay between Beijing and Shanghai is 60.43 ms(40.61–377.77 ms),with a packet loss rate of 0.0550%and a network recovery time of less than 10 seconds after network interruption.There is almost no delay in the evaluation of remote master and slave operators.The quality of digital subtraction angiography(DSA)images during surgery is very clear,and there is almost no delay in the transmission of DSA images during surgery.Remote audio and video transmission during surgery has almost no delay,stable transmission,and high quality.The control of the equipment from the end is veryflexible.Throughout the TM entire experiment,there were no software or hardware malfunctions in the R-One robot system,and there were no corresponding intervention complications during or after surgery in all animals.No serious adverse events such as coronary artery dissection and perforation were found during postoperative animal dissection.Conclusions In animal experiments,this study validated the safety and effectiveness of using TM 5G technology to remotely manipulate R-One for PCI surgery,providing theoretical and practical basis for the future clinical application of this technology.
作者
余小林
马玲
郭自同
刘永国
林蕾
孙洪军
李国庆
陈韵岱
杨毅宁
YU Xiao-lin;MA Ling;GUO Zi-tong;LIU Yong-guo;LIN Lei;SUN Hong-jun;LI Guo-qing;CHEN Yun-dai;YANG Yi-ning(Department of Cardiology,People’s Hospital of Xinjiang Uyghur Autonomous Region,Urumqi 830001,China;Xinjiang Key Laboratory of Cardiovascular Homeostasis and Regeneration Research,Urumqi 830001,China;Xinjiang Medical University Graduate School,Urumqi 830054,China;Cathbot(Shanghai)Robot Co.,Ltd,Shanghai 201203;Shanghai MicroPort MedBot(Group)Co.,Ltd.,Shanghai 201203;Senior Department of Cardiology,Sixth Medical Center of PLA General Hospital,Beijing 100048,China)
出处
《中国介入心脏病学杂志》
CSCD
2024年第3期147-153,共7页
Chinese Journal of Interventional Cardiology
基金
新疆维吾尔自治区自然科学基金-重点项目(2022D01D22)
新疆维吾尔自治区自然科学基金-面上项目(2023D01C91)。
关键词
机器人
远程手术
经皮冠状动脉介入治疗
微创手术
Robots
Remote surgery
Percutaneous coronary intervention
Minimally invasive surgery
