体内带有磁固定机构和镜头清洁机构的腹腔镜单孔手术（LESS）用可视机器人系统的研制。
Development of an in vivo visual robot system with a magnetic anchoring mechanism and a lens cleaning mechanism for laparoendoscopic single-site surgery (LESS).
机构信息
Harbin Institute of Technology, Harbin, Heilongjiang Province, China.
Department of Hepatobiliary Surgery, First Affiliated Hospital; Xi'an Jiaotong University, P. R. China.
出版信息
Int J Med Robot. 2017 Dec;13(4). doi: 10.1002/rcs.1791. Epub 2017 Jan 16.
BACKGROUND
Surgical robot systems which can significantly improve surgical procedures have been widely used in laparoendoscopic single-site surgery (LESS). For a relative complex surgical procedure, the development of an in vivo visual robot system for LESS can effectively improve the visualization for surgical robot systems.
METHODS
In this work, an in vivo visual robot system with a new mechanism for LESS was investigated. A finite element method (FEM) analysis was carried out to ensure the safety of the in vivo visual robot during the movement, which was the most important concern for surgical purposes. A master-slave control strategy was adopted, in which the control model was established by off-line experiments.
RESULTS
The in vivo visual robot system was verified by using a phantom box. The experiment results show that the robot system can successfully realize the expected functionalities and meet the demands of LESS.
CONCLUSION
The experiment results indicate that the in vivo visual robot with high manipulability has great potential in clinical application.
背景
能够显著改善手术流程的外科手术机器人系统已广泛应用于经腹腔镜单孔手术（LESS）中。对于相对复杂的手术过程，开发用于LESS 的体内可视化机器人系统可以有效改善外科手术机器人系统的可视化程度。
方法
本研究中，我们研究了一种用于 LESS 的新型体内可视化机器人系统。通过有限元方法（FEM）分析，以确保体内可视化机器人在运动过程中的安全性，这是出于手术目的的最重要关注点。我们采用了主从控制策略，通过离线实验建立了控制模型。
结果
我们使用一个体模箱对体内可视化机器人系统进行了验证。实验结果表明，机器人系统可以成功实现预期的功能，并满足 LESS 的需求。
结论
实验结果表明，具有高可操作性的体内可视化机器人在临床应用中具有很大的潜力。
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