Platt Stephen R, Hawks Jeff A, Rentschler Mark E
University of Nebraska, Lincoln, NE 68566, USA.
IEEE Trans Biomed Eng. 2009 Jun;56(6):1700-10. doi: 10.1109/TBME.2009.2014741. Epub 2009 Feb 20.
Minimally invasive abdominal surgery (laparoscopy) results in superior patient outcomes compared to conventional open surgery. However, the difficulty of manipulating traditional laparoscopic tools from outside the body of the patient generally limits these benefits to patients undergoing relatively low complexity procedures. The use of tools that fit entirely inside the peritoneal cavity represents a novel approach to laparoscopic surgery. Our previous work demonstrated that miniature mobile and fixed-based in vivo robots using tethers for power and data transmission can successfully operate within the abdominal cavity. This paper describes the development of a modular wireless mobile platform for in vivo sensing and manipulation applications. Design details and results of ex vivo and in vivo tests of robots with biopsy grasper, staple/clamp, video, and physiological sensor payloads are presented. These types of self-contained surgical devices are significantly more transportable and lower in cost than current robotic surgical assistants. They could ultimately be carried and deployed by nonmedical personnel at the site of an injury to allow a remotely located surgeon to provide critical first response medical intervention irrespective of the location of the patient.
与传统开放手术相比，微创腹部手术（腹腔镜手术）能为患者带来更好的治疗效果。然而，从患者体外操作传统腹腔镜工具存在困难，这通常将这些益处局限于接受相对低复杂度手术的患者。使用完全适合腹腔内的工具代表了一种腹腔镜手术的新方法。我们之前的工作表明，使用系绳进行动力和数据传输的微型移动和固定型体内机器人能够在腹腔内成功操作。本文描述了一种用于体内传感和操作应用的模块化无线移动平台的开发。文中展示了带有活检抓取器、吻合钉/夹子、视频和生理传感器负载的机器人的体外和体内测试的设计细节及结果。这些类型的独立手术设备比当前的机器人手术助手更便于运输且成本更低。它们最终可能由非医务人员携带并部署在受伤现场，以便远程外科医生能够提供关键的急救医疗干预，而无需考虑患者的位置。
