Seung Sungmin, Choi Hongseok, Jang Jongseong, Kim Young Soo, Park Jong-Oh, Park Sukho, Ko Seong Young
1 Department of Mechanical Engineering, Chonnam National University, Gwangju, Korea.
2 Institute of Innovative Surgical Technology, Hanyang University, Seoul, Korea.
Proc Inst Mech Eng H. 2017 Jan;231(1):3-19. doi: 10.1177/0954411916676218. Epub 2016 Nov 18.
This article presents a haptic-guided teleoperation for a tumor removal surgical robotic system, so-called a SIROMAN system. The system was developed in our previous work to make it possible to access tumor tissue, even those that seat deeply inside the brain, and to remove the tissue with full maneuverability. For a safe and accurate operation to remove only tumor tissue completely while minimizing damage to the normal tissue, a virtual wall-based haptic guidance together with a medical image-guided control is proposed and developed. The virtual wall is extracted from preoperative medical images, and the robot is controlled to restrict its motion within the virtual wall using haptic feedback. Coordinate transformation between sub-systems, a collision detection algorithm, and a haptic-guided teleoperation using a virtual wall are described in the context of using SIROMAN. A series of experiments using a simplified virtual wall are performed to evaluate the performance of virtual wall-based haptic-guided teleoperation. With haptic guidance, the accuracy of the robotic manipulator's trajectory is improved by 57% compared to one without. The tissue removal performance is also improved by 21% ( p < 0.05). The experiments show that virtual wall-based haptic guidance provides safer and more accurate tissue removal for single-port brain surgery.
本文介绍了一种用于肿瘤切除手术机器人系统的触觉引导遥操作，即所谓的SIROMAN系统。该系统是我们在之前的工作中开发的，目的是能够触及肿瘤组织，即使是那些位于大脑深处的肿瘤组织，并以完全的可操作性切除组织。为了在将对正常组织的损伤降至最低的同时，安全、准确地完全切除肿瘤组织，提出并开发了一种基于虚拟壁的触觉引导以及医学图像引导控制。虚拟壁是从术前医学图像中提取的，并且通过触觉反馈控制机器人将其运动限制在虚拟壁内。在使用SIROMAN的背景下，描述了子系统之间的坐标变换、碰撞检测算法以及使用虚拟壁的触觉引导遥操作。进行了一系列使用简化虚拟壁的实验，以评估基于虚拟壁的触觉引导遥操作的性能。有了触觉引导，机器人操纵器轨迹的精度比没有触觉引导时提高了57%。组织切除性能也提高了21%（p < 0.05）。实验表明，基于虚拟壁的触觉引导为单端口脑手术提供了更安全、更准确的组织切除。
