School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China.
Med Biol Eng Comput. 2020 Sep;58(9):2063-2069. doi: 10.1007/s11517-020-02217-6. Epub 2020 Jul 8.
Robot-assisted technologies are overcoming the limitations of the current approaches for transoral surgeries, which are suffering from limited vision and workspace. As a result, we develop a novel teleoperated parallel continuum robot with variable stiffness for collision avoidance. This paper focuses on the feasibility study on a cadaveric model for the robotic system as a first trial. We introduce the configuration of the robotic system, the description of the processes of the trial, including the setting of the robotic system, the test of stiffness, and the action of the manipulation. The contact force between the manipulators with different stiffness and the surrounding tissues and a series of surgical operations of the manipulator, including grasping, cutting, pushing, and pulling tissues under the master-slave control mode, were recorded and analyzed. Experimental results suggest that the typical surgical procedure on a cadaveric model was successfully performed. Moreover, the efficacy and feasibility of the developed robotic system are verified to satisfy the requirements of transoral robotic surgery (TORS). Graphical abstract.
机器人辅助技术正在克服目前经口手术方法的局限性，这些方法受到有限的视野和工作空间的限制。因此，我们开发了一种新型的远程操作的变刚度并联连续体机器人，用于避免碰撞。本文主要研究了机器人系统在尸体模型上的可行性研究，作为首次尝试。我们介绍了机器人系统的配置，描述了试验过程，包括机器人系统的设置、刚度测试以及操作的执行。记录并分析了具有不同刚度的操作器与周围组织之间的接触力，以及在主从控制模式下操作器的一系列手术操作，包括抓取、切割、推动和拉动组织。实验结果表明，成功地在尸体模型上进行了典型的手术过程。此外，所开发的机器人系统的有效性和可行性得到了验证，满足经口机器人手术（TORS）的要求。
