Wang Wei, Li Jianmin, Wang Shuxin, Su He, Jiang Xueming
General Surgery Department, Tianjin Medical University General Hospital, Tianjin, 300052, China.
Key Lab for Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, 300072, China.
Int J Med Robot. 2016 Mar;12(1):73-84. doi: 10.1002/rcs.1658. Epub 2015 Apr 23.
Robot-assisted minimally invasive surgery has shown tremendous advances over the traditional technique. However, currently commercialized systems are large and complicated, which vastly raises the system cost and operation room requirements.
A MIS robot named 'MicroHand' was developed over the past few years. The basic principle and the key technologies are analyzed in this paper. Comparison between the proposed robot and the da Vinci system is also presented. Finally, animal experiments were carried out to test the performance of MicroHand.
Fifteen animal experiments were carried out from July 2013 to December 2013. All animal experiments were finished successfully.
The proposed design method is an effective way to resolve the drawbacks of previous generations of the da Vinci surgical system. The animal experiment results confirmed the feasibility of the design.
与传统技术相比，机器人辅助微创手术已取得巨大进展。然而，目前商业化的系统体积庞大且复杂，这极大地提高了系统成本和手术室要求。
在过去几年中开发了一种名为“MicroHand”的微创手术机器人。本文分析了其基本原理和关键技术。还对所提出的机器人与达芬奇系统进行了比较。最后，进行了动物实验以测试MicroHand的性能。
2013年7月至2013年12月进行了15次动物实验。所有动物实验均成功完成。
所提出的设计方法是解决前几代达芬奇手术系统缺点的有效途径。动物实验结果证实了该设计的可行性。
