Lopez Edoardo, Kwok Ka-Wai, Payne Christopher J, Giataganas Petros, Yang Guang-Zhong
Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, London, UK.
IEEE Int Conf Robot Autom. 2013 May 10;2013:5390-5395. doi: 10.1109/ICRA.2013.6631350.
This paper presents an control framework for robot-assisted minimally invasive surgery. It extends on current frameworks by prescribing the external constraints implicitly from the operator motion, forgoing the need for pre-operative imaging; the constraints are defined so as to avoid the use of invasive fiducial markers. A cooperatively-controlled robotic platform, comprising of a surgical instrument and a compliant manipulator, has been designed for an arthroscopic procedure. The surgical platform is capable of constraining the pose of the instrument so as to ensure it passes through the incision point and does not cause trauma to the surrounding tissue. A flexible arthroscopic instrument is designed and its use is investigated to enlarge reachable and dexterous workspace, increasing the accessibility to the target anatomy. The behaviour of the flexible instrument is analysed. A detailed performance analysis is conducted on a group of subjects for validating the control framework, simulating a minimally invasive arthroscopic procedure. Results demonstrate a statistically significant enhancement in the control ergonomics as well as the accuracy and safety of the procedure.
本文提出了一种用于机器人辅助微创手术的控制框架。它对当前框架进行了扩展，通过从操作员的动作中隐式规定外部约束，无需术前成像；约束的定义避免了使用侵入性基准标记。已为关节镜手术设计了一个由手术器械和柔顺操纵器组成的协同控制机器人平台。该手术平台能够约束器械的姿态，以确保其穿过切口点且不会对周围组织造成创伤。设计了一种柔性关节镜器械，并对其使用进行了研究，以扩大可达和灵巧工作空间，增加对目标解剖结构的可达性。分析了柔性器械的行为。对一组受试者进行了详细的性能分析，以验证该控制框架，模拟微创关节镜手术。结果表明，该手术在控制人体工程学以及手术的准确性和安全性方面有统计学上的显著提高。
