Wyss Institute for Biologically Inspired Engineering, Harvard University, USA; School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore.
Comput Methods Programs Biomed. 2013 Nov;112(2):260-71. doi: 10.1016/j.cmpb.2013.01.018. Epub 2013 Apr 2.
A flexible endoscope could reach the potential surgical site via a single small incision on the patient or even through natural orifices, making it a very promising platform for surgical procedures. However, endoscopic surgery has strict spatial constraints on both tool-channel size and surgical site volume. It is therefore very challenging to deploy and control dexterous robotic instruments to conduct surgical procedures endoscopically. Pioneering endoscopic surgical robots have already been introduced, but the performance is limited by the flexible neck of the robot that passes through the endoscope tool channel. In this article we present a series of new developments to improve the performance of the robot: a force transmission model to address flexibility, elongation study for precise position control, and tissue property modeling for haptic feedback. Validation experiment results are presented for each sector. An integrated control architecture of the robot system is given in the end.
一种灵活的内窥镜可以通过患者身上的一个小切口甚至通过自然孔道到达潜在的手术部位，这使其成为一种非常有前途的手术平台。然而，内窥镜手术对工具通道尺寸和手术部位体积都有严格的空间限制。因此，要通过部署和控制灵巧的机器人器械来进行内窥镜手术极具挑战性。已经引入了开创性的内窥镜手术机器人，但机器人的柔性颈部通过内窥镜工具通道，这限制了机器人的性能。在本文中，我们提出了一系列新的发展来提高机器人的性能：力传递模型以解决柔性问题、精确位置控制的伸长研究，以及触觉反馈的组织特性建模。每个部分都给出了验证实验结果。最后给出了机器人系统的集成控制架构。
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