Department of Mechanical Engineering, Vanderbilt University, Nashville, Tennessee, USA.
Vanderbilt Institute for Surgery and Engineering (VISE), Nashville, Tennessee, USA.
Int J Med Robot. 2020 Dec;16(6):1-10. doi: 10.1002/rcs.2149. Epub 2020 Sep 1.
Current laparoscopic surgical robots are teleoperated, which requires high fidelity differential motions but does not require absolute accuracy. Emerging applications, including image guidance and automation, require absolute accuracy. The absolute accuracy of the da Vinci Xi robot has not yet been characterized or compared to the Si system, which is now being phased out. This study compares the accuracy of the two.
We measure robot tip positions and encoder values assessing accuracy with and without robot calibration.
The Si is accurate if the setup joints are not moved but loses accuracy otherwise. The Xi is always accurate.
The Xi can achieve submillimetric average error. Calibration improves accuracy, but excellent baseline accuracy of the Xi means that calibration may not be needed for some applications. Importantly, the external tracking systems needed to account for setup joint error in the Si are no longer required with the Xi.
目前的腹腔镜手术机器人是遥操作的，这需要高保真的差动运动，但不需要绝对精度。新兴的应用，包括图像引导和自动化，需要绝对精度。达芬奇 Xi 机器人的绝对精度尚未得到描述或与现已逐步淘汰的 Si 系统进行比较。本研究比较了这两种机器人的精度。
我们测量机器人末端位置和编码器值，评估有无机器人校准的准确性。
Si 在设置关节未移动时是准确的，但移动后会失去准确性。Xi 始终是准确的。
Xi 可以达到亚毫米级的平均误差。校准可以提高精度，但 Xi 出色的基线精度意味着校准对于某些应用可能不是必需的。重要的是，在 Si 中需要外部跟踪系统来补偿设置关节误差的系统在 Xi 中不再需要。
