人机协作控制辅助的半手动乳突切除术——一项颞骨模型研究
Semi-manual mastoidectomy assisted by human-robot collaborative control - A temporal bone replica study.
作者信息
Lim Hoon, Matsumoto Nozomu, Cho Byunghyun, Hong Jaesung, Yamashita Makoto, Hashizume Makoto, Yi Byung-Ju
机构信息
Department of Electronic, Electrical, Control and Instrumentation Engineering, Hanyang University, Seoul, Republic of Korea.
Department of Otorhinolaryngology, Graduate School of Medical Sciences, Kyushu University, Fukuoka, Japan.
出版信息
Auris Nasus Larynx. 2016 Apr;43(2):161-5. doi: 10.1016/j.anl.2015.08.008. Epub 2015 Sep 11.
OBJECTIVE
To develop an otological robot that can protect important organs from being injured.
METHODS
We developed a five degree-of-freedom robot for otological surgery. Unlike the other robots that were reported previously, our robot does not replace surgeon's procedures, but instead utilizes human-robot collaborative control. The robot basically releases all of the actuators so that the surgeon can manipulate the drill within the robot's working area with minimal restriction. When the drill reaches a forbidden area, the surgeon feels as if the drill hits a wall.
RESULTS
When an engineer performed mastoidectomy using the robot for assistance, the facial nerve in the segmented region was always protected with a more than 2.5mm margin, which was almost the same as the pre-set safety margin of 3mm.
CONCLUSION
Semi-manual drilling using human-robot collaborative control was feasible, and may hold a realistic prospect of clinical use in the near future.
目的
开发一种能够保护重要器官免受损伤的耳科机器人。
方法
我们开发了一种用于耳科手术的五自由度机器人。与之前报道的其他机器人不同，我们的机器人并不取代外科医生的操作步骤，而是采用人机协作控制。该机器人基本上松开所有致动器，以便外科医生能够在机器人工作区域内以最小的限制操作钻头。当钻头到达禁区时，外科医生会感觉钻头撞到了墙。
结果
当一名工程师使用该机器人辅助进行乳突切除术时，分段区域内的面神经始终受到保护，其边缘超过2.5毫米，这几乎与预设的3毫米安全边缘相同。
结论
采用人机协作控制的半自动钻孔是可行的，并且在不久的将来可能具有现实的临床应用前景。
Zotero 插件