Objective To evaluate the effectiveness and safety of 5G technology remote control vascular intervention robot(R-OneTM)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 group(R-OneTM remote assisted PCI under 5G network)and a control group(R-OneTM 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(87.94-1 927.12 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 very flexible.Throughout the entire experiment,there were no software or hardware malfunctions in the R-OneTM 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 5G technology to remotely manipulate R-OneTM for PCI surgery,providing theoretical and practical basis for the future clinical application of this technology.
关键词
机器人/远程手术/经皮冠状动脉介入治疗/微创手术
Key words
Robots/Remote surgery/Percutaneous coronary intervention/Minimally invasive surgery
维普
万方数据