Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, 300072, China.
Med Biol Eng Comput. 2021 Apr;59(4):787-797. doi: 10.1007/s11517-021-02341-x. Epub 2021 Mar 7.
In recent years, laparoscopic surgery attracts considerable attention for its distinct advantages owing to minimized invasiveness. However, traditional surgical instruments have a single function and lack the ability to provide high-resolution images for real-time tissue assessment. Thus, it remains a challenge to perform complex procedures with the traditional surgical instruments. In this paper, a novel laparoscopic surgical device for real-time endomicroscopy and therapy is proposed. The device is integrated with a visualization unit to provide endoscopic images in a constrained cavity for real-time observation. Moreover, modular end tools can be assembled and switched with the multi-DOF manipulator. The experimental results demonstrate that the surface-scanning tool can perform smooth scanning and obtain a large area mosaic of 6.99 mm in 40.2 s for tissue assessment. The spring-loaded forceps can generate an output force of 1.47 N to manipulate tissue. These experimental results demonstrate the potential value of the device for intraoperative endomicroscopy-guided surgery and robot-assisted surgery.
近年来，腹腔镜手术因其微创的优势而引起了相当多的关注。然而，传统的手术器械功能单一，缺乏提供实时组织评估的高分辨率图像的能力。因此，使用传统的手术器械来执行复杂的手术仍然是一个挑战。在本文中，提出了一种用于实时内窥检查和治疗的新型腹腔镜手术设备。该设备集成了一个可视化单元，以在受限的腔体内提供内窥镜图像，用于实时观察。此外，模块化的末端工具可以与多自由度操纵器组装和切换。实验结果表明，表面扫描工具可以进行平滑扫描，在 40.2 秒内获得 6.99mm 的大面积组织评估拼接图。弹簧夹钳可以产生 1.47N 的输出力来操纵组织。这些实验结果表明该设备在术中内窥检查引导手术和机器人辅助手术中具有潜在的价值。
