Harbin Institute of Technology, Nan Gang, Harbin, People's Republic of China.
Int J Med Robot. 2012 Mar;8(1):85-96. doi: 10.1002/rcs.440. Epub 2011 Oct 11.
Robot-assisted systems have been widely used in minimally invasive surgery (MIS) practice, and with them the precision and accuracy of surgical procedures can be significantly improved. Promoting the development of robot technology in MIS will improve robot performance and help in tackling problems from complex surgical procedures.
A medical robot system with a new mechanism for MIS was proposed to achieve a two-dimensional (2D) remote centre of motion (RCM). An improved surgical instrument was designed to enhance manipulability and eliminate the coupling motion between the wrist and the grippers. The control subsystem adopted a master-slave control mode, upon which a new method with error compensation of repetitive feedback can be based for the inverse kinematics solution. A unique solution with less computation and higher satisfactory accuracy was also obtained. Tremor filtration and trajectory planning were also addressed with regard to the smoothness of the surgical instrument movement.
The robot system was tested on pigs weighing 30-45 kg. The experimental results show that the robot can successfully complete a cholecystectomy and meet the demands of MIS.
The results of the animal experiments were excellent, indicating a promising clinical application of the robot with high manipulability.
机器人辅助系统已广泛应用于微创手术（MIS）实践中，通过它们可以显著提高手术的精度和准确性。促进 MIS 中机器人技术的发展将提高机器人的性能，并有助于解决复杂手术程序中的问题。
提出了一种用于 MIS 的新型机构的医疗机器人系统，以实现二维（2D）远程运动中心（RCM）。设计了一种改进的手术器械，以增强可操作性并消除手腕和夹具之间的耦合运动。该控制系统采用主从控制模式，在此基础上可以为逆运动学求解提供基于重复反馈的误差补偿的新方法。还获得了一种具有较少计算量和更高满意度的独特解决方案。针对手术器械运动的平滑性，还解决了震颤过滤和轨迹规划问题。
该机器人系统在体重为 30-45 公斤的猪身上进行了测试。实验结果表明，该机器人可以成功完成胆囊切除术，满足 MIS 的要求。
动物实验结果非常出色，表明该机器人具有高可操作性，具有广阔的临床应用前景。
