紧凑型远程操作经脐单孔腹腔镜机器人手术系统：运动学、控制和操作。
Compact teleoperated laparoendoscopic single-site robotic surgical system: Kinematics, control, and operation.
机构信息
Department of Mechanical Engineering, University of Hawaii at Manoa, USA.
出版信息
Int J Med Robot. 2017 Dec;13(4). doi: 10.1002/rcs.1811. Epub 2017 Mar 27.
BACKGROUND
To date a variety of teleoperated surgical robotic systems have been developed to improve a surgeon's ability to perform demanding single-port procedures. However typical large systems are bulky, expensive, and afford limited angular motion, while smaller designs suffer complications arising from limited motion range, speed, and force generation. This work was to develop and validate a simple, compact, low cost single site teleoperated laparoendoscopic surgical robotic system, with demonstrated capability to carry out basic surgical procedures.
METHODS
This system builds upon previous work done at the University of Hawaii at Manoa and includes instrument and endoscope manipulators as well as compact articulated instruments designed to overcome single incision geometry complications. A robotic endoscope holder was used for the base, with an added support frame for teleoperated manipulators and instruments fabricated mostly from 3D printed parts. Kinematics and control methods were formulated for the novel manipulator configuration.
RESULTS
Trajectory following results from an optical motion tracker and sample task performance results are presented.
CONCLUSIONS
Results indicate that the system has successfully met the goal of basic surgical functionality while minimizing physical size, complexity, and cost.
背景
迄今为止，已经开发出多种远程手术机器人系统，以提高外科医生进行高难度单孔手术的能力。然而，典型的大型系统庞大、昂贵，并且提供的角运动有限，而较小的设计则因运动范围、速度和力产生受限而出现并发症。这项工作旨在开发和验证一种简单、紧凑、低成本的单站点远程腹腔镜手术机器人系统，该系统已证明具有执行基本手术程序的能力。
方法
该系统基于夏威夷大学马诺阿分校的先前工作，包括器械和内窥镜操纵器，以及为克服单切口几何形状并发症而设计的紧凑型铰接器械。机器人内窥镜固定器用作底座，并增加了用于远程操纵器和仪器的支撑框架，这些仪器主要由 3D 打印部件制成。为新型操纵器配置制定了运动学和控制方法。
结果
从光学运动跟踪器获得了轨迹跟踪结果，并呈现了样本任务性能结果。
结论
结果表明，该系统成功地满足了基本手术功能的目标，同时最小化了物理尺寸、复杂性和成本。
Zotero 插件