超声引导便携式脉管穿刺机器人

doi:10.7523/j.ucas.2023.061

中国科学院大学学报 ›› 2025, Vol. 42 ›› Issue (4): 547-553.DOI: 10.7523/j.ucas.2023.061

• 简报 • 上一篇

超声引导便携式脉管穿刺机器人

孙百强^1,2,3,4, 王重阳^1,2,4, 林鹏^1,2,4, 赫冠男⁵, 姜振明⁵, 毕建斌⁵, 刘浩^1,2,4

1. 中国科学院沈阳自动化研究所机器人学国家重点实验室, 沈阳 110016;
2. 中国科学院机器人与智能制造创新研究院, 沈阳 110169;
3. 中国科学院大学, 北京 100049;
4. 辽宁省微创手术机器人重点实验室, 沈阳 110179;
5. 中国医科大学, 沈阳 110122

收稿日期:2023-04-17 修回日期:2023-05-22 发布日期:2023-05-22
通讯作者: 刘浩,E-mail:liuhao@sia.cn
基金资助:
沈阳市科学技术计划医工结合协同创新研究项目(20-205-4-015)资助

Ultrasound-guided portable vessel puncture robot

SUN Baiqiang^1,2,3,4, WANG Chongyang^1,2,4, LIN Peng^1,2,4, HE Guannan⁵, JIANG Zhenming⁵, BI Jianbin⁵, LIU Hao^1,2,4

1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences,Shenyang 110016, China;
2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences,Shenyang 110169, China;
3. University of Chinese Academy of Sciences,Beijing 100049, China;
4. Liaoning Province Key Laboratory of Minimally Invasive Surgical Robot, Shenyang 110179, China;
5. China Medical University,Shenyang 110122, China

Received:2023-04-17 Revised:2023-05-22 Published:2023-05-22

摘要/Abstract

摘要： 脉管穿刺介入手术是对目标脉管进行穿刺后插入导丝，精确到达患处进行治疗的一种现代微创治疗方式，具有创伤小、恢复快、安全性高等特点。但由于脉管的深度不同，如何对目标脉管进行定位并精准穿刺是穿刺介入手术的一个难点。目前的穿刺设备由于体积和重量原因并不适用于非临床条件下紧急建立脉管通路使用。为此，设计一种超声引导的便携式脉管穿刺机器人，该机器人通过超声设备观测脉管，利用机械结构将超声图像、穿刺针和目标脉管对准，再通过调节上下移动距离，实现对不同深度脉管的精准穿刺。该机器人体积小、重量轻，可以在非临床条件下便携使用。实验表明，相较于常规的穿刺方法，该机器人可减少患者的创伤，减轻操作者的操作难度，提高脉管穿刺的成功率。

关键词: 微创手术, 脉管穿刺, 超声引导, 便携式手术机器人

Abstract: Vascular puncture interventional surgery is a modern minimally invasive treatment method, which punctures the target vein and inserts guide wire to accurately reach the affected area for treatment. It has the characteristics of little trauma, fast recovery and high safety. However, due to the different depth of the vessel, it is difficult to locate and accurately puncture the target vessel in puncture interventional surgery. Current puncture devices are not suitable for emergency vasculature access in non-clinical settings due to their size and weight. We designed a portable ultrasound-guided robot for venous puncture. The robot observed the venous tube through ultrasonic equipment, aligned the ultrasonic image, puncture needle and target venous tube through mechanical structure, and realized venous puncture at different depths by adjusting the moving distance up and down. The robot is small and lightweight, making it portable for use in non-clinical conditions. Experiments show that compared with conventional puncture methods, the robot can reduce patient trauma, reduce the difficulty of operators, and improve the success rate of vascular puncture.

Key words: minimally invasive surgery, vascular puncture, ultrasonic guidance, portable surgical robot

中图分类号:

TP242.3

孙百强, 王重阳, 林鹏, 赫冠男, 姜振明, 毕建斌, 刘浩. 超声引导便携式脉管穿刺机器人[J]. 中国科学院大学学报, 2025, 42(4): 547-553.

SUN Baiqiang, WANG Chongyang, LIN Peng, HE Guannan, JIANG Zhenming, BI Jianbin, LIU Hao. Ultrasound-guided portable vessel puncture robot[J]. Journal of University of Chinese Academy of Sciences, 2025, 42(4): 547-553.

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超声引导便携式脉管穿刺机器人

Ultrasound-guided portable vessel puncture robot

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