Department of Electrical and Computer Engineering, University of Calgary, Calgary, Alberta, Canada.
Neurosurgery. 2013 Jan;72 Suppl 1:139-53. doi: 10.1227/NEU.0b013e318273a1a3.
Robots are becoming increasingly relevant to neurosurgeons, extending a neurosurgeon's physical capabilities, improving navigation within the surgical landscape when combined with advanced imaging, and propelling the movement toward minimally invasive surgery. Most surgical robots, however, isolate surgeons from the full range of human senses during a procedure. This forces surgeons to rely on vision alone for guidance through the surgical corridor, which limits the capabilities of the system, requires significant operator training, and increases the surgeon's workload. Incorporating haptics into these systems, ie, enabling the surgeon to "feel" forces experienced by the tool tip of the robot, could render these limitations obsolete by making the robot feel more like an extension of the surgeon's own body. Although the use of haptics in neurosurgical robots is still mostly the domain of research, neurosurgeons who keep abreast of this emerging field will be more prepared to take advantage of it as it becomes more prevalent in operating theaters. Thus, this article serves as an introduction to the field of haptics for neurosurgeons. We not only outline the current and future benefits of haptics but also introduce concepts in the fields of robotic technology and computer control. This knowledge will allow readers to be better aware of limitations in the technology that can affect performance and surgical outcomes, and "knowing the right questions to ask" will be invaluable for surgeons who have purchasing power within their departments.
机器人在神经外科领域的应用越来越广泛,它们扩展了神经外科医生的身体机能,与先进的成像技术结合使用时,可以改善手术过程中的导航,推动微创手术的发展。然而,大多数手术机器人在手术过程中使外科医生与人体的所有感官隔离开来。这迫使外科医生仅依靠视觉来引导手术通道,这限制了系统的功能,需要进行大量的操作人员培训,并增加了外科医生的工作量。将触觉纳入这些系统,即允许外科医生“感受到”机器人工具尖端所经历的力,可以通过使机器人感觉更像是外科医生自身身体的延伸来消除这些限制。尽管触觉在神经外科机器人中的应用仍主要处于研究领域,但紧跟这一新兴领域的神经外科医生将更有准备地利用它,因为它在手术室中变得越来越普遍。因此,本文旨在为神经外科医生介绍触觉领域。我们不仅概述了触觉的当前和未来的益处,还介绍了机器人技术和计算机控制领域的概念。这些知识将使读者更好地了解可能影响性能和手术结果的技术限制,并且对于在其部门中具有购买权的外科医生来说,“知道要问的正确问题”将是非常宝贵的。
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