In order to inspect and improve the system performance of the neuro-interventional surgical robot and its effectiveness and safety in clinical applications, we conducted ten animal experiments using this robotic system. Cerebral angiography was performed on ten experimental animals, and various mechanical performance indicators, operating time, X-ray radiation dosage to the experimental animals and the experimenter, and arterial damage in the experimental animals were recorded when the robotic system completed cerebral angiography. The results show that the robotic system can successfully complete the cerebral angiography surgery, and the mechanical performance is up to standard. The operating time is almost the same as the physician’s operating time. And the mean X-ray radiation dosage received by the experimental animals and experimenter was 0.893 Gy and 0.0859 mSv, respectively. There were no complications associated with damage to the vascular endothelium. The robotic system can basically complete the relevant assessment indicators, and its system performance, effectiveness, and safety in clinical applications meet the standards, basically meeting the requirements of clinical applications of neurointerventional surgery.

中文翻译：

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主从模式的新型神经介入手术机器人系统的动物实验

为了检查和改善神经介入手术机器人的系统性能及其在临床应用中的有效性和安全性，我们使用该机器人系统进行了十次动物实验。对十只实验动物进行脑血管造影，并在机器人系统完成脑血管造影时记录各种机械性能指标，手术时间，对实验动物和实验者的X射线剂量以及对实验动物的动脉损伤。结果表明，该机器人系统可以成功完成脑血管造影手术，机械性能达到标准。手术时间几乎与医生的手术时间相同。实验动物和实验者收到的平均X射线辐射剂量为0。分别为893 Gy和0.0859 mSv。没有与血管内皮损害相关的并发症。机器人系统基本可以完成相关的评估指标，其系统性能，有效性和安全性在临床应用中符合标准，基本满足神经介入手术的临床应用要求。