机器人辅助微创手术中自主缝合任务分配的研究。
A study on autonomous suturing task assignment in robot-assisted minimally invasive surgery.
机构信息
Key Laboratory of CNC Equipment Reliability, Ministry of Education, School of Mechanical and Aerospace Engineering, Jilin University, Changchun, Jilin, China.
出版信息
Int J Med Robot. 2021 Feb;17(1):1-10. doi: 10.1002/rcs.2180. Epub 2020 Oct 31.
BACKGROUND
Sutures are a set of standard actions which are accomplished by multi-instruments, researchers studied the robot autonomy of suturing, which was based on movement planning completed by a single instrument, but did not consider the assignment of suturing tasks to instruments.
METHOD
A method was proposed for the autonomous suturing task assignment to instruments, which built a comprehensive evaluation index under some constraint conditions to determine the optimal scheme of the suturing task assignment to instruments.
RESULTS
An experiment of duodenal ulcer repair with a suturing operation was conducted under the guidance of a surgeon, and the results showed that the optimal scheme of the suturing task assignment was obtained by using the proposed method.
CONCLUSIONS
The proposed method can be used for autonomous suturing task assignment, which is beneficial for improving the intelligence of robot operation.
背景
缝线是一套由多器械完成的标准动作，研究人员研究了基于单器械完成运动规划的缝合机器人自主性，但没有考虑缝线任务的分配给器械。
方法
提出了一种用于器械自主缝合任务分配的方法，该方法在一些约束条件下构建了一个综合评价指标，以确定器械缝合任务分配的最佳方案。
结果
在外科医生的指导下进行了十二指肠溃疡修复的缝合操作实验，结果表明，使用提出的方法可以获得最佳的缝合任务分配方案。
结论
提出的方法可用于自主缝合任务分配，有利于提高机器人操作的智能化程度。
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