用于单孔手术的具有六自由度机器人工具操纵器的机器人系统的开发。
Development of a robotic system with six-degrees-of-freedom robotic tool manipulators for single-port surgery.
作者信息
Kobayashi Yo, Sekiguchi Yuta, Noguchi Takehiko, Takahashi Yu, Liu Quanquan, Oguri Susumu, Toyoda Kazutaka, Uemura Munenori, Ieiri Satoshi, Tomikawa Morimasa, Ohdaira Takeshi, Hashizume Makoto, Fujie Masaktsu G
机构信息
Faculty of Science and Engineering, Research Institute of Science and Engineering, Waseda University, Japan.
Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Japan.
出版信息
Int J Med Robot. 2015 Jun;11(2):235-46. doi: 10.1002/rcs.1600. Epub 2014 Jun 26.
BACKGROUND
Current robotic systems have limitations for single-port surgery (SPS) because the instruments are large, the arms collide and the field of vision requires manual readjustment. We have developed an SPS robotic system that manipulates the vision field.
METHODS
The master-slave system included a six degrees of freedom (DOFs) tool manipulator, an easy set-up mechanism, a flexible shaft drive with sufficient DOFs and a vertical arrangement for improved vision. The robot manipulates an endoscope within the body. After assembly, the system was tested in vitro and in vivo.
RESULTS
In vitro testing showed that the tool manipulators resected tissue precisely, with the range of motion required. In vivo testing indicated that an abdominal organ is accurately approached and diseased tissue removed by combined endoscopy and robotics.
CONCLUSIONS
Our robotics allowed the operator to adjust the vision field intuitively. The tool manipulator approached and resected diseased tissue precisely.
背景
当前的机器人系统在单孔手术（SPS）方面存在局限性，因为器械较大、手臂相互碰撞且视野需要手动重新调整。我们开发了一种可操控视野的SPS机器人系统。
方法
主从系统包括一个六自由度（DOF）的工具操纵器、一个易于设置的机构、一个具有足够自由度的柔性轴驱动器以及为改善视野的垂直排列。该机器人在体内操纵内窥镜。组装后，该系统在体外和体内进行了测试。
结果
体外测试表明，工具操纵器能精确切除组织，且具有所需的运动范围。体内测试表明，通过联合内镜检查和机器人技术可准确接近腹部器官并切除病变组织。
结论
我们的机器人技术使操作者能够直观地调整视野。工具操纵器能精确接近并切除病变组织。
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