遠隔操作型血管内治療用ロボットシステムSENTANTEの触覚フィードバックを用いた完全遠隔操作による血管内治療の評価

To evaluate a fully robotic, teleoperated system for performing various endovascular interventions in a preclinical porcine model.

The SENTANTE™ Endovascular Robotic System was assessed in six healthy porcine subjects using standard endovascular devices. Outcomes were assessed via procedural monitoring and gross pathological analysis. Haptic feedback performance was qualitatively assessed by the operators using a four-point scale (1 = very good, 2 = fair, 3 = poor, 4 = inadequate).

A total of 18 endovascular interventional procedures were successfully completed, including renal artery stenting (3), embolization of the superior right renal artery branch (3), percutaneous transluminal angioplasty (PTA) of the superior mesenteric artery (3), left vertebral artery stenting (3), contralateral iliac artery PTA (3), and ipsilateral iliac artery stenting (3). All procedures (100%) were completed without manual conversion, including pre and post-procedural angiography, resulting in near-zero operator radiation exposure. The system was compatible with standard guidewires (0.014″, 0.018″, and 0.035″), catheters (2.7-8 Fr), and pushable coils (0.018″ and 0.035″). Post-procedural angiography demonstrated no signs of vessel injury. Minimal vessel trauma was observed in 3 of 16 target vessels during gross necropsy. Haptic feedback was rated as very good in three test models and as fair in the remaining three.

In a preclinical model, the SENTANTE™ system demonstrated the feasibility of performing endovascular interventions via teleoperation, including angiography, stenting, coil embolization, and PTA. Its compatibility with standard devices, haptic feedback, and elimination of operator radiation exposure support progression to clinical feasibility trials.