Shen Tao, Hennings Dietric, Nelson Carl A, Oleynikov Dmitry
1 University of Nebraska-Lincoln, Lincoln, NE, USA.
2 University of Nebraska Medical Center, Omaha, NE, USA.
Surg Innov. 2018 Aug;25(4):364-373. doi: 10.1177/1553350618781225. Epub 2018 Jun 18.
Natural orifice transluminal endoscopic surgery (NOTES) has gained attention as a revolutionary technique with its potential advantages in eliminating skin incisions, shortening recovery time, and decreasing postoperative complications; however, its practical application is still constrained by the complexity of navigation through the surgical field and paucity of available instruments. Current progress on NOTES focuses on designing flexible articulated robots or fully inserted bimanual robots to address the limitations. However, the lack of multitasking tools, trade-offs between size and power, and lack of sufficient surgical force are too often neglected. The authors designed a bimanual robot with a multifunctional manipulator, which can realize on-site instrument-change according to surgeon needs. An articulated drive mechanism with 2 independent curvature sections was designed to deliver the robot to the surgical site. A corresponding reconfiguration operation sequence was formulated to ease insertion and thereby decrease the design trade-off between size and power. This article presents 3 benchtop and animal tests to evaluate the robotic surgery approach and demonstrate the effectiveness of the robot.
经自然腔道内镜手术（NOTES）作为一项革命性技术已受到关注，它在消除皮肤切口、缩短恢复时间和减少术后并发症方面具有潜在优势；然而，其实际应用仍受到手术视野导航复杂性和可用器械匮乏的限制。NOTES目前的进展集中在设计柔性关节机器人或完全插入式双手机器人以解决这些限制。然而，多任务工具的缺乏、尺寸与功率之间的权衡以及手术力不足等问题常常被忽视。作者设计了一种带有多功能操纵器的双手机器人，它可以根据外科医生的需求实现现场器械更换。设计了一种具有2个独立弯曲段的关节驱动机构，以将机器人送达手术部位。制定了相应的重新配置操作序列，以方便插入，从而减少尺寸与功率之间的设计权衡。本文介绍了3项台式试验和动物试验，以评估机器人手术方法并证明该机器人的有效性。
