Kawai Toshikazu, Hayashi Hiroyuki, Nishizawa Yuji, Nishikawa Atsushi, Nakamura Ryoichi, Kawahira Hiroshi, Ito Masaaki, Nakamura Tatsuo
Major in Biomedical Engineering, Graduate School of Engineering, Osaka Institute of Technology, 5-16-1 Omiya, Asahi-ku, Osaka, 535-8585, Japan.
Department of Colorectal Surgery, National Cancer Center Hospital East, 6-5-1, Kashiwanoha, Kashiwa, 277-8577, Japan.
Int J Comput Assist Radiol Surg. 2017 Aug;12(8):1345-1353. doi: 10.1007/s11548-017-1595-4. Epub 2017 May 5.
By integrating locally operated small surgical robots in a sterilized area, a surgeon can perform safe and accurate robotically assisted laparoscopic surgery. At present, there is no locally operated compact forceps robot that can operate within a small space while providing a wide working area on the abdominal wall. In the present study, a new spherical-coordinate manipulator with a linear telescopic rail and two circular telescopic rails that can act as a third arm for the surgeon has been developed.
A compact locally operated detachable end-effector manipulator (LODEM) was developed. This manipulator uses circular telescopic rails with linkage mechanisms for the yaw and pitch axes, and a linear telescopic rail for the insertion/extraction axis is attached to forceps. The dimensions of the manipulator are [Formula: see text] when contracted and [Formula: see text] when expanded. The positional accuracy, mechanical deflection, and backlash of the prototype were evaluated while performing simulated in vivo laparoscopic surgery.
The positional accuracy, deflection, and backlash of the telescopic rail mechanism were 2.1, 1.8, and 5.1 mm, respectively. The manipulator could successfully handle the target and maintain stability, while the arms of the endoscope specialist were free from collisions with the manipulator during an in vivo laparoscopic surgery.
A compact LODEM was designed to facilitate minimally invasive, robotically assisted laparoscopic surgery by a doctor working near the patient. This device could be used for such applications.
通过将本地操作的小型手术机器人集成到无菌区域，外科医生可以进行安全且精确的机器人辅助腹腔镜手术。目前，尚无能够在小空间内操作同时在腹壁上提供广阔工作区域的本地操作紧凑型钳式机器人。在本研究中，已开发出一种新型的球坐标操纵器，其具有线性伸缩导轨和两个圆形伸缩导轨，可作为外科医生的第三只手臂。
开发了一种紧凑型本地操作的可拆卸末端执行器操纵器（LODEM）。该操纵器在偏航和俯仰轴上使用带有连杆机构的圆形伸缩导轨，并且在钳子上连接了用于插入/抽出轴的线性伸缩导轨。操纵器收缩时的尺寸为[公式：见原文]，展开时的尺寸为[公式：见原文]。在进行模拟体内腹腔镜手术时，对原型的位置精度、机械挠度和反向间隙进行了评估。
伸缩导轨机构的位置精度、挠度和反向间隙分别为2.1、1.8和5.1毫米。在体内腹腔镜手术期间，操纵器能够成功地操作目标并保持稳定，同时内窥镜专家的手臂不会与操纵器发生碰撞。
设计了一种紧凑型LODEM，以方便在患者附近工作的医生进行微创机器人辅助腹腔镜手术。该设备可用于此类应用。
