Pahlavan Pedram, Najarian Siamak, Dargahi Javad, Moini Majid
Faculty of Biomedical Engineering, Amirkabir University of Technology (Tehran Polytechnic) , Tehran , Iran .
J Med Eng Technol. 2014 Aug;38(6):295-301. doi: 10.3109/03091902.2014.918198. Epub 2014 Jun 18.
One of the most common diseases of the vascular system is abdominal aortic aneurysm (AAA), for which the most definitive treatment is surgery. Minimally invasive aorta surgery is a novel method of surgery performed through small incisions and offers significant advantages including less pain, shorter hospital stay, faster patient recovery, less possibility of infection, etc. However, lack of sense of touch is the main drawback of this type of aorta surgery that would incapacitate the surgeon to exactly distinguish the aorta from its surrounding tissues which could cause various problems during the aorta cross-clamping process. One of the most important drawbacks is that it makes the aorta cross-clamping process the most time-consuming process of aortic repair surgery. The artificial tactile sensing approach is a novel method that can be used in various fields of medicine and, more specifically, in minimally invasive surgeries, where using the 'tactile sense' is not possible. In this paper, considering the present problems during aortic-repair-laparoscopy and imitating the movement of surgeons' fingers during aorta cross-clamping, a novel tactile-based artery cross-clamping robot is introduced and its function is evaluated experimentally. It is illustrated that this new tactile-based artery cross-clamping robot is well capable of dissecting an artery from its adjacent tissues in a short time with an acceptable accuracy.
血管系统最常见的疾病之一是腹主动脉瘤（AAA），对此最确切的治疗方法是手术。微创主动脉手术是一种通过小切口进行的新型手术方法，具有显著优势，包括疼痛减轻、住院时间缩短、患者恢复更快、感染可能性降低等。然而，缺乏触觉是这类主动脉手术的主要缺点，这会使外科医生无法准确区分主动脉与其周围组织，从而在主动脉夹闭过程中可能引发各种问题。最重要的缺点之一是，这使得主动脉夹闭过程成为主动脉修复手术中最耗时的过程。人工触觉传感方法是一种可用于医学各个领域的新方法，更具体地说，可用于无法使用“触觉”的微创手术。本文针对主动脉修复腹腔镜手术中存在的问题，模仿外科医生在主动脉夹闭过程中的手指动作，介绍了一种新型的基于触觉的动脉夹闭机器人，并对其功能进行了实验评估。结果表明，这种新型的基于触觉的动脉夹闭机器人能够在短时间内以可接受的精度从相邻组织中分离出动脉。
