一种新型手术机器人设计：最小化无菌区内的操作空间。

A novel surgical robot design: minimizing the operating envelope within the sterile field.

作者信息

Dachs Gregory W, Peine William J

机构信息

Mechanical Engineering Department, Purdue University, West Lafayette, IN 47907, USA.

出版信息

Conf Proc IEEE Eng Med Biol Soc. 2006;2006:1505-8. doi: 10.1109/IEMBS.2006.259730.

DOI:10.1109/IEMBS.2006.259730

PMID:17946897

Abstract

Current surgical robotic systems dominate the space in the sterile field above the patient. Ideally, next generation systems will couple the simplicity of traditional laparoscopic instruments with the dexterity of robotic assisted surgery. This paper presents the design of a novel 6 DOF robotic instrument that eliminates the dependence on pivoting about the incision point. The motion envelope of the proximal end of the tool is therefore constrained to a line rather than the typical cone. This reduction in size enables better access to the patient and allows standard minimally invasive hand tools to be used alongside the robot.

摘要

当前的手术机器人系统在患者上方的无菌区域占据主导地位。理想情况下，下一代系统将把传统腹腔镜器械的简易性与机器人辅助手术的灵活性结合起来。本文介绍了一种新型六自由度机器人器械的设计，该器械消除了对围绕切口点旋转的依赖。因此，工具近端的运动范围被限制为一条直线，而不是典型的圆锥体。尺寸的减小使得能够更好地接近患者，并允许标准的微创手动工具与机器人一起使用。