Stallkamp J, Schraft R D
Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Nobelstrasse 12, D-70569, Stuttgart, Germany.
Int J Med Robot. 2005 Jan;1(2):48-52. doi: 10.1002/rcs.15.
In minimally invasive surgery, a higher degree of accuracy is required by surgeons both for current and for future applications. This could be achieved using either a manipulator or a robot which would undertake selected tasks during surgery. However, a manually-controlled manipulator cannot fully exploit the maximum accuracy and feasibility of three-dimensional motion sequences. Therefore, apart from being used to perform simple positioning tasks, manipulators will probably be replaced by robot systems more and more in the future. However, in order to use a robot, accurate, up-to-date and extensive data is required which cannot yet be acquired by typical sensors such as CT, MRI, US or common x-ray machines. This paper deals with a new sensor and a concept for its application in robot-assisted minimally invasive surgery on soft tissue which could be a solution for data acquisition in future.
在微创手术中，无论是当前还是未来的应用，外科医生都需要更高的精度。这可以通过使用在手术过程中执行特定任务的操纵器或机器人来实现。然而，手动控制的操纵器无法充分发挥三维运动序列的最大精度和可行性。因此，除了用于执行简单的定位任务外，操纵器未来可能会越来越多地被机器人系统所取代。然而，为了使用机器人，需要准确、最新且广泛的数据，而典型的传感器如CT、MRI、超声或普通X光机目前还无法获取这些数据。本文介绍了一种新型传感器及其在机器人辅助软组织微创手术中的应用概念，这可能是未来数据采集的一种解决方案。
