University of Pittsburgh School of Medicine, Pittsburgh, Pennsylvania.
J Surg Res. 2014 Jan;186(1):56-62. doi: 10.1016/j.jss.2013.07.032. Epub 2013 Aug 8.
The number of robot-assisted surgeries performed with the da Vinci surgical system has increased significantly over the past decade. The articulating movements of the robotic surgical grasper are controlled by grip controls at the master console. The user interface has been implicated as one contributing factor in surgical grasping errors. The goal of our study was to characterize and evaluate the user interface of the da Vinci surgical system in controlling surgical graspers.
An angular manipulator with force sensors was used to increment the grip control angle as grasper output angles were measured. Input force at the grip control was simultaneously measured throughout the range of motion. Pressure film was used to assess the maximum grasping force achievable with the endoscopic grasping tool.
The da Vinci robot's grip control angular input has a nonproportional relationship with the grasper instrument output. The grip control mechanism presents an intrinsic resistant force to the surgeon's fingertips and provides no haptic feedback. The da Vinci Maryland graspers are capable of applying up to 5.1 MPa of local pressure.
The angular and force input at the grip control of the da Vinci robot's surgical graspers is nonproportional to the grasper instrument's output. Understanding the true relationship of the grip control input to grasper instrument output may help surgeons understand how to better control the surgical graspers and promote fewer grasping errors.
在过去的十年中，达芬奇手术系统完成的机器人辅助手术数量显著增加。机器人手术抓握器的铰接运动由主控制台的抓握控制装置控制。用户界面已被认为是手术抓握失误的一个因素。我们的研究目的是描述和评估达芬奇手术系统控制手术抓握器的用户界面。
使用带有力传感器的角操纵器来增加抓握控制角度，同时测量抓握器的输出角度。在整个运动范围内同时测量抓握控制的输入力。使用压力膜评估内窥镜抓握工具可实现的最大抓握力。
达芬奇机器人的抓握控制角输入与抓握器工具输出之间呈非比例关系。抓握控制机构向外科医生的指尖提供固有阻力，并且没有触觉反馈。达芬奇 Maryland 抓握器能够施加高达 5.1 MPa 的局部压力。
达芬奇机器人手术抓握器的抓握控制的角和力输入与抓握器工具的输出不成比例。了解抓握控制输入与抓握器工具输出的真实关系可以帮助外科医生更好地控制手术抓握器并减少抓握失误。
