Medical Robotics Laboratory, School of AutomationBeijing University of Posts and TelecommunicationsBeijing100876China.
Department of GastroenterologyPeking University Third HospitalBeijing100191China.
IEEE J Transl Eng Health Med. 2021 Feb 2;9:2600109. doi: 10.1109/JTEHM.2021.3056618. eCollection 2021.
: To remove blood from an incision and find the incision spot is a key task during surgery, or else over discharge of blood will endanger a patient's life. However, the repetitive manual blood removal involves plenty of workload contributing fatigue of surgeons. Thus, it is valuable to design a robotic system which can automatically remove blood on the incision surface. : In this paper, we design a robotic system to fulfill the surgical task of the blood removal. The system consists of a pair of dual cameras, a 6-DoF robotic arm, an aspirator whose handle is fixed to a robotic arm, and a pump connected to the aspirator. Further, a path-planning algorithm is designed to generate a path, which the aspirator tip should follow to remove blood. : In a group of simulating bleeding experiments on ex vivo porcine tissue, the contour of the blood region is detected, and the reconstructed spatial coordinates of the detected blood contour is obtained afterward. The BRR robot cleans thoroughly the blood running out the incision. : This study contributes the first result on designing an autonomous blood removal medical robot. The skill of the surgical blood removal operation, which is manually operated by surgeons nowadays, is alternatively grasped by the proposed BRR medical robot.
: 清除切口处的血液并找到切口位置是手术过程中的一项关键任务，否则过度出血会危及患者生命。然而，重复的手动血液清除会带来大量的工作量，导致外科医生疲劳。因此，设计一种能够自动清除切口表面血液的机器人系统是非常有价值的。: 在本文中，我们设计了一种机器人系统来完成血液清除的手术任务。该系统由一对双目摄像头、一个六自由度机器人手臂、一个把手固定在机器人手臂上的吸液器以及一个与吸液器相连的泵组成。此外，还设计了一种路径规划算法，以生成一条路径，使吸液器的尖端能够沿着该路径清除血液。: 在一组针对离体猪组织的模拟出血实验中，检测到了血液区域的轮廓，随后获得了检测到的血液轮廓的重建空间坐标。BRR 机器人彻底清除了切口流出的血液。: 本研究首次设计了一种自主式血液清除医疗机器人。该机器人替代了目前由外科医生手动操作的手术血液清除操作技能。
