Department of Computing, The Hamlyn Centre for Robotic Surgery, Imperial College London, South Kensington Campus, London, SW7 2AZ, UK.
Ann Biomed Eng. 2018 Oct;46(10):1663-1675. doi: 10.1007/s10439-018-2066-y. Epub 2018 Jun 11.
Endoscopic procedures have transformed minimally invasive surgery as they allow the examination and intervention on a patient's anatomy through natural orifices, without the need for external incisions. However, the complexity of anatomical pathways and the limited dexterity of existing instruments, limit such procedures mainly to diagnosis and biopsies. This paper proposes a new robotic platform: the Intuitive imaging sensing navigated and kinematically enhanced ([Formula: see text]) robot that aims to improve the field of endoscopic surgery. The proposed robotic platform includes a snake-like robotic endoscope equipped with a camera, a light-source and two robotic instruments, supported with a robotic arm for global positioning and for insertion of the [Formula: see text] and a master interface for master-slave teleoperation. The proposed robotic platform design focuses on ergonomics and intuitive control. The control workflow was first validated in simulation and then implemented on the robotic platform. The results are consistent with the simulation and show the clear clinical potential of the system. Limitations such as tendon backlash and elongation over time will be further investigated by means of combined hardware and software solutions. In conclusion, the proposed system contributes to the field of endoscopic surgical robots and could allow to perform more complex endoscopic surgical procedures while reducing patient trauma and recovery time.
内镜手术已经改变了微创外科，因为它们允许通过自然孔道检查和干预患者的解剖结构，而无需外部切口。然而，解剖路径的复杂性和现有器械的有限灵巧性，主要限制了这些手术只能用于诊断和活检。本文提出了一种新的机器人平台：直观成像感应导航和运动增强([Formula: see text])机器人，旨在改善内镜手术领域。所提出的机器人平台包括一个配备摄像头、光源和两个机器人器械的蛇形机器人内窥镜，由一个机器人臂支持，用于全局定位和插入[Formula: see text]，以及用于主从远程操作的主接口。所提出的机器人平台设计注重人体工程学和直观控制。控制工作流程首先在模拟中进行验证，然后在机器人平台上实现。结果与模拟结果一致，显示出该系统明显的临床潜力。随着时间的推移，将通过结合硬件和软件解决方案进一步研究诸如钢丝绳的弹性滞后和伸长等限制因素。总之，所提出的系统为内镜手术机器人领域做出了贡献，它可以使更复杂的内镜手术成为可能，同时减少患者的创伤和恢复时间。
