Institute for Biomedical Technology and Technical Medicine (MIRA), University of Twente, The Netherlands.
Int J Med Robot. 2013 Jun;9(2):240-6. doi: 10.1002/rcs.1496. Epub 2013 Apr 23.
Advanced flexible endoscopes and instruments with multiple degrees of freedom enable physicians to perform challenging procedures such as the removal of large sections of mucosal tissue. However, these advanced endoscopes are difficult to control and require several physicians to cooperate.
In this article, we present a robotic system that allows the physician to control an instrument in an intuitive way, using a haptic device. Performance with the robotic and conventional control methods were compared in a human subjects experiment. Subjects used both methods to tap a series of targets. They performed four trials while looking at the endoscopic monitor, and two trials while looking at the instrument directly.
Subjects were significantly faster using the robotic method, 54 s vs 164 s. Their performance in the second trial was significantly improved with respect to the first trial.
This study provides evidence that the robotic control method can be implemented to improve the performance of physicians using advanced flexible endoscopes.
先进的柔性内窥镜和具有多个自由度的仪器使医生能够进行具有挑战性的手术，例如切除大块的黏膜组织。然而，这些先进的内窥镜难以控制，需要多名医生合作。
在本文中，我们提出了一种机器人系统，允许医生使用触觉设备直观地控制仪器。在一项人体实验中，比较了机器人和传统控制方法的性能。受试者使用这两种方法来敲击一系列目标。他们在观察内窥镜监视器时进行了四次试验，在直接观察仪器时进行了两次试验。
受试者使用机器人方法的速度明显更快，为 54 秒对 164 秒。与第一次试验相比，他们在第二次试验中的表现有了显著提高。
本研究提供了证据表明，机器人控制方法可以被实施，以提高使用先进的柔性内窥镜的医生的性能。
