Kim Myungjoon, Lee Chiwon, Hong Nhayoung, Kim Yoon Jae, Kim Sungwan
Interdisciplinary Program for Bioengineering, Graduate School, Seoul National University, Seoul, 03080, South Korea.
Korea Electrotechnology Research Institute, Ansan, 15588, South Korea.
Biomed Eng Online. 2017 Jun 24;16(1):81. doi: 10.1186/s12938-017-0376-1.
Although robotic laparoscopic surgery has various benefits when compared with conventional open surgery and minimally invasive surgery, it also has issues to overcome and one of the issues is the discontinuous surgical flow that occurs whenever control is swapped between the endoscope system and the operating robot arm system. This can lead to problems such as collision between surgical instruments, injury to patients, and increased operation time. To achieve continuous surgical operation, a wireless controllable stereo endoscope system is proposed which enables the simultaneous control of the operating robot arm system and the endoscope system.
The proposed system consists of two improved novel master interfaces (iNMIs), a four-degrees of freedom (4-DOFs) endoscope control system (ECS), and a simple three-dimensional (3D) endoscope. In order to simultaneously control the proposed system and patient side manipulators of da Vinci research kit (dVRK), the iNMIs are installed to the master tool manipulators of dVRK system. The 4-DOFs ECS consists of four servo motors and employs a two-parallel link structure to provide translational and fulcrum point motion to the simple 3D endoscope. The images acquired by the endoscope undergo stereo calibration and rectification to provide a clear 3D vision to the surgeon as available in clinically used da Vinci surgical robot systems. Tests designed to verify the accuracy, data transfer time, and power consumption of the iNMIs were performed. The workspace was calculated to estimate clinical applicability and a modified peg transfer task was conducted with three novice volunteers.
The iNMIs operated for 317 min and moved in accordance with the surgeon's desire with a mean latency of 5 ms. The workspace was calculated to be 20378.3 cm, which exceeds the reference workspace of 549.5 cm. The novice volunteers were able to successfully execute the modified peg transfer task designed to evaluate the proposed system's overall performance.
The experimental results verify that the proposed 3D endoscope system enables continuous surgical flow. The workspace is suitable for the performance of numerous types of surgeries. Therefore, the proposed system is expected to provide much higher safety and efficacy for current surgical robot systems.
尽管与传统开放手术和微创手术相比，机器人腹腔镜手术有诸多益处，但它也有需要克服的问题，其中一个问题是每当在内窥镜系统和手术机器人手臂系统之间切换控制时就会出现手术流程不连续的情况。这可能导致诸如手术器械碰撞、患者受伤以及手术时间延长等问题。为实现连续手术操作，提出了一种无线可控立体内窥镜系统，该系统能够同时控制手术机器人手臂系统和内窥镜系统。
所提出的系统由两个改进的新型主接口（iNMI）、一个四自由度（4-DOF）内窥镜控制系统（ECS）和一个简易三维（3D）内窥镜组成。为了同时控制所提出的系统和达芬奇研究套件（dVRK）的患者侧操纵器，将iNMI安装到dVRK系统的主工具操纵器上。4-DOF ECS由四个伺服电机组成，并采用双平行连杆结构为简易3D内窥镜提供平移和支点运动。内窥镜采集的图像经过立体校准和校正，以向外科医生提供与临床使用的达芬奇手术机器人系统中一样清晰的3D视觉效果。进行了旨在验证iNMI的准确性、数据传输时间和功耗的测试。计算了工作空间以估计临床适用性，并与三名新手志愿者进行了改良的栓柱转移任务。
iNMI运行了317分钟，并按照外科医生的意愿移动，平均延迟为5毫秒。计算得出工作空间为20378.3立方厘米，超过了549.5立方厘米的参考工作空间。新手志愿者能够成功执行旨在评估所提出系统整体性能的改良栓柱转移任务。
实验结果验证了所提出的3D内窥镜系统能够实现连续手术流程。该工作空间适用于多种类型的手术。因此，预计所提出的系统将为当前的手术机器人系统提供更高的安全性和有效性。
