Feng Haibo, Lu Yu, Chen Dong, Ma Tengfei, Fu Yili
Harbin Institute of Technology, Harbin, Heilongjiang Province, China.
Faw-volkswagen Automative Co., Changchun, China.
Int J Med Robot. 2018 Aug;14(4):e1904. doi: 10.1002/rcs.1904. Epub 2018 Mar 8.
Surgical robot systems have been used in laparoendoscopic single-site surgery (LESS) to improve patient outcomes. A magnetic anchoring surgical robot system for LESS can effectively extend the operation space.
A robot system based on visual servo control for LESS is proposed. It includes a magnetic anchoring robot and a control subsystem, in which an uncalibrated visual servo control method obtains an accurate positioning capability of the robot for LESS.
The results of the simulation and the tissue experiment show that the robot system can successfully accomplish the expected control functionalities for LESS. The average positioning error of the proposed system is 1.622 mm.
The magnetic anchoring robot system is able to implement the autonomous positioning of its end-effector through the proposed control approach according to experimental results.
手术机器人系统已应用于腹腔镜单孔手术（LESS）以改善患者预后。一种用于LESS的磁锚定手术机器人系统可有效扩展操作空间。
提出一种基于视觉伺服控制的LESS机器人系统。它包括一个磁锚定机器人和一个控制子系统，其中一种未校准的视觉伺服控制方法可实现机器人在LESS中的精确定位能力。
仿真和组织实验结果表明，该机器人系统能够成功完成LESS预期的控制功能。所提系统的平均定位误差为1.622毫米。
根据实验结果，磁锚定机器人系统能够通过所提控制方法实现其末端执行器的自主定位。
