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用于电缆驱动柔性内窥镜的手持式有源附加控制单元

Handheld Active Add-On Control Unit for a Cable-Driven Flexible Endoscope.

作者信息

Legrand Julie, Javaux Allan, Ourak Mouloud, Wenmakers Dirk, Vercauteren Tom, Deprest Jan, Ourselin Sebastien, Denis Kathleen, Vander Poorten Emmanuel

机构信息

Laboratory of Robot-Assisted Surgery, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium.

Department of Imaging and Biomedical Engineering, King's College London, London, United Kingdom.

出版信息

Front Robot AI. 2019 Sep 20;6:87. doi: 10.3389/frobt.2019.00087. eCollection 2019.

DOI:10.3389/frobt.2019.00087
PMID:33501102
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7805766/
Abstract

The instruments currently used by surgeons for treatment of the twin-to-twin transfusion syndrome (TTTS) are rigid or semi-rigid. Their poor dexterity makes this surgical intervention risky and the surgeon's work very complex. This paper proposes the design, assembly and quantitative evaluation of an add-on system intended to be placed on a commercialized cable-driven flexible endoscope. The add-on system is lightweight and easily exchangeable thanks to the McKibben muscle actuators embedded in its system. The combination of the flexible endoscope and the new add-on unit results in an easy controllable flexible instrument with great potential use in TTTS treatment, and especially for regions that are hard to reach with conventional instruments. The fetoscope has a precision of 7.4% over its entire bending range and allows to decrease the maximum planar force on the body wall of 6.15% compared to the original endoscope. The add-on control system also allows a more stable and precise actuation of the endoscope flexible tip.

摘要

目前外科医生用于治疗双胎输血综合征（TTTS）的器械是刚性或半刚性的。它们灵活性差，使得这种手术干预具有风险，并且外科医生的工作非常复杂。本文提出了一种附加系统的设计、组装和定量评估，该系统旨在安装在商业化的电缆驱动柔性内窥镜上。由于系统中嵌入了麦基布纳肌肉致动器，该附加系统重量轻且易于更换。柔性内窥镜和新的附加单元相结合，形成了一种易于控制的柔性器械，在TTTS治疗中具有巨大的潜在用途，特别是对于传统器械难以到达的区域。该胎儿镜在其整个弯曲范围内的精度为7.4%，与原始内窥镜相比，可使作用于体壁的最大平面力降低6.15%。附加控制系统还允许对内窥镜柔性尖端进行更稳定、精确的驱动。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0246/7805766/bde75c986b4f/frobt-06-00087-g0012.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0246/7805766/bde75c986b4f/frobt-06-00087-g0012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0246/7805766/07c60b39abf4/frobt-06-00087-g0001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0246/7805766/f8e1326c3f80/frobt-06-00087-g0002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0246/7805766/95d52c11af59/frobt-06-00087-g0003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0246/7805766/5feb2810b333/frobt-06-00087-g0004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0246/7805766/6890e90f0f12/frobt-06-00087-g0005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0246/7805766/c9435ae3cd77/frobt-06-00087-g0006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0246/7805766/eb6aa0ef9f26/frobt-06-00087-g0007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0246/7805766/4df056944f71/frobt-06-00087-g0008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0246/7805766/8bc1dc2f289a/frobt-06-00087-g0009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0246/7805766/ddafbbb8675e/frobt-06-00087-g0010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0246/7805766/725e638b7fd2/frobt-06-00087-g0011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0246/7805766/bde75c986b4f/frobt-06-00087-g0012.jpg

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