Carbone Marina, Turini Giuseppe, Petroni Gianluigi, Niccolini Marta, Menciassi Arianna, Ferrari Mauro, Mosca Franco, Ferrari Vincenzo
EndoCAS Center for Computer Assisted Surgery, University of Pisa, Italy.
Comput Aided Surg. 2012;17(4):161-71. doi: 10.3109/10929088.2012.692168. Epub 2012 Jun 11.
The evolution of surgical robotics is following the progress of developments in Minimally Invasive Surgery (MIS), which is moving towards Single-Incision Laparoscopic Surgery (SILS) procedures. The complexity of these techniques has favored the introduction of robotic surgical systems. New bimanual robots, which are completely inserted into the patient's body, have been proposed in order to enhance the surgical gesture in SILS procedures. However, the limited laparoscopic view and the focus on the end-effectors, together with the use of complex robotic devices inside the patient's abdomen, may lead to unexpected collisions, e.g., between the surrounding anatomical organs not involved in the intervention and the surgical robot. This paper describes a computer guidance system, based on patient-specific data, designed to provide intraoperative navigation and assistance in SILS robotic interventions. The navigator has been tested in simulations of some of the surgical tasks involved in a cholecystectomy, using a synthetic anthropomorphic mannequin. The results demonstrate the usability and efficacy of the navigation system, underlining the importance of avoiding unwanted collisions between the robot arms and critical organs. The proposed computer guidance software is able to integrate any bimanual surgical robot design.
手术机器人技术的发展紧跟微创外科（MIS）的发展步伐，微创外科正朝着单切口腹腔镜手术（SILS）程序发展。这些技术的复杂性推动了机器人手术系统的引入。为了增强SILS手术中的手术操作，已经提出了完全插入患者体内的新型双手机器人。然而，有限的腹腔镜视野、对末端执行器的关注，以及在患者腹部使用复杂的机器人设备，可能会导致意外碰撞，例如，在未参与干预的周围解剖器官与手术机器人之间。本文描述了一种基于患者特定数据的计算机引导系统，旨在为SILS机器人干预提供术中导航和辅助。该导航仪已在使用合成拟人模型的胆囊切除术中涉及的一些手术任务模拟中进行了测试。结果证明了导航系统的可用性和有效性，强调了避免机器人手臂与关键器官之间发生不必要碰撞的重要性。所提出的计算机引导软件能够集成任何双手手术机器人设计。
