Morimoto Tania K, Greer Joseph D, Hsieh Michael H, Okamura Allison M
Department of Mechanical Engineering, Stanford University, Stanford, CA, 94035 USA.
Department of Urology, Children's National Health System, Washington, District of Columbia, 20010 USA.
Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2016 Jun;2016:41-48. doi: 10.1109/BIOROB.2016.7523596. Epub 2016 Jul 28.
Concentric tube robots have potential for use in a wide variety of surgical procedures due to their small size, dexterity, and ability to move in highly curved paths. Unlike most existing clinical robots, the design of these robots can be developed and manufactured on a patient- and procedure-specific basis. The design of concentric tube robots typically requires significant computation and optimization, and it remains unclear how the surgeon should be involved. We propose to use a virtual reality-based design environment for surgeons to easily and intuitively visualize and design a set of concentric tube robots for a specific patient and procedure. In this paper, we describe a novel patient-specific design process in the context of the virtual reality interface. We also show a resulting concentric tube robot design, created by a pediatric urologist to access a kidney stone in a pediatric patient.
同心管机器人因其尺寸小、灵活性高以及能够在高度弯曲的路径中移动，在各种各样的外科手术中具有应用潜力。与大多数现有的临床机器人不同，这些机器人的设计可以根据特定患者和手术进行开发和制造。同心管机器人的设计通常需要大量的计算和优化，而且尚不清楚外科医生应如何参与其中。我们建议为外科医生使用基于虚拟现实的设计环境，以便轻松直观地可视化和设计针对特定患者和手术的一组同心管机器人。在本文中，我们描述了在虚拟现实界面背景下一种新颖的针对特定患者的设计过程。我们还展示了由一名儿科泌尿科医生为一名儿科患者取出肾结石而设计的同心管机器人。
