Oleynikov D, Rentschler M, Hadzialic A, Dumpert J, Platt S R, Farritor S
University of Nebraska Medical Center, 983280 Nebraska Medical Center, Omaha, NE 68198-3280, USA.
Surg Endosc. 2005 Apr;19(4):473-6. doi: 10.1007/s00464-004-8918-6. Epub 2005 Mar 8.
Laparoscopy reduces patient trauma but eliminates the surgeon's ability to directly view and touch the surgical environment. Although current robot-assisted laparoscopy improves the surgeon's ability to manipulate and visualize the target organs, the instruments and cameras remain constrained by the entry incision. This limits tool tip orientation and optimal camera placement. This article focuses on developing miniature in vivo robots to assist surgeons during laparoscopic surgery by providing an enhanced field of view from multiple angles and dexterous manipulators not constrained by the abdominal wall fulcrum effect. Miniature camera robots were inserted through a small incision into the insufflated abdominal cavity of an anesthetized pig. Trocar insertion and other laparoscopic tool placements were then viewed with these robotic cameras. The miniature robots provided additional camera angles that improved surgical visualization during a cholecystectomy. These successful prototype trials have demonstrated that miniature in vivo robots can provide surgeons with additional visual information that can increase procedural safety.
腹腔镜检查减少了患者的创伤，但消除了外科医生直接观察和触摸手术环境的能力。尽管当前的机器人辅助腹腔镜检查提高了外科医生操纵和可视化目标器官的能力，但仪器和摄像头仍受进入切口的限制。这限制了工具尖端的方向和最佳摄像头放置。本文重点在于开发微型体内机器人，通过提供多角度的增强视野和不受腹壁支点效应限制的灵活操纵器，在腹腔镜手术期间协助外科医生。微型摄像机器人通过一个小切口插入到麻醉猪的充气腹腔中。然后用这些机器人摄像头观察套管针插入和其他腹腔镜工具放置情况。在胆囊切除术中，微型机器人提供了额外的摄像角度，改善了手术可视化。这些成功的原型试验表明，微型体内机器人可以为外科医生提供额外的视觉信息，从而提高手术安全性。
