一种用于高精度线牵引和张力控制的微创手术机器人的研制及其适用性的确认。
Development of a microsurgery-assisted robot for high-precision thread traction and tension control, and confirmation of its applicability.
机构信息
Department of System Design Engineering, Keio University, Minato, Tokyo, Japan.
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA.
出版信息
Int J Med Robot. 2021 Apr;17(2):e2205. doi: 10.1002/rcs.2205. Epub 2020 Dec 1.
BACKGROUND
Microsurgery requires high skills for suturing using fragile threads, often within narrow surgical fields. Precise tension is required for good healing and to avoid the risk of thread breakage.
METHODS
To meet the demands, we developed a novel assist robot utilizing high-precision sensorless haptic technology. The robot adopts a cable-driven mechanism to maintain a distance from the surgical area and enhances compatibility with surgical equipment such as microscopes. The robot performance was verified through in vitro and in vivo experiments using a rat model.
RESULTS
The realization of precise tension control was confirmed in both experiments. In particular, in the in vivo experiments, the developed robot succeeded to produce a knot with an accurate tension of 0.66% error.
CONCLUSIONS
The developed robot can realize to control traction force precisely. This technology might open up the window for a full assist robot for microsurgery with haptic feeling.
背景
显微外科需要使用脆弱的缝线进行高技能的缝合，通常在狭小的手术区域内进行。为了达到良好的愈合效果并避免缝线断裂的风险，需要精确的张力。
方法
为了满足这些需求，我们开发了一种利用高精度无传感器触觉技术的新型辅助机器人。该机器人采用电缆驱动机构，与手术区域保持一定距离，并增强了与显微镜等手术设备的兼容性。机器人的性能通过使用大鼠模型进行的体外和体内实验得到了验证。
结果
在两个实验中都证实了精确张力控制的实现。特别是在体内实验中，开发的机器人成功地以 0.66%的误差产生了一个精确张力的结。
结论
所开发的机器人可以实现精确控制牵引力。这项技术可能为具有触觉的显微手术全辅助机器人开辟了一扇窗。
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