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半自主和远程操作机器人辅助硬膜外麻醉程序中的针道规划：概念验证。

Needle path planning in semiautonomous and teleoperated robot-assisted epidural anaesthesia procedure: A proof of concept.

机构信息

Centro de Ingeniería Avanzada, Departamento de Mecatrónica, Facultad de Ingeniería, Universidad Nacional Autónoma de México (UNAM), Circuito Interior, Universidad Nacional Autónoma de México, Coyoacán, Ciudad de México, México.

Instituto de Ciencias Aplicadas y Tecnología (ICAT), Universidad Nacional Autónoma de México (UNAM), Universidad Nacional Autónoma de México, Coyoacán, Ciudad de México, México.

出版信息

Int J Med Robot. 2022 Dec;18(6):e2434. doi: 10.1002/rcs.2434. Epub 2022 Jun 29.

DOI:10.1002/rcs.2434
PMID:35699156
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9787351/
Abstract

BACKGROUND

Epidural anaesthesia is a Percutaneous Procedure (PP) which plays a crucial role in surgical procedures, where accurate needle insertion is still challenging. The objective of this work is to present a Tuohy needle path planning, which allows an anaesthesiologist to drive semiautonomously, with the assistance of a teleoperated robot, the tip of the needle during this PP.

METHODS

We capture, analysed and modelled the anaesthetist hands' motion during the execution of this procedure, by synthetising, programing and simulating a parametrised and normalised kinematic constrains dependent on an insertion variable in a virtual robot.

RESULTS

Two preoperative path planning models were obtained, which provide a teleoperated robot with kinematic constraints to semiautonomously drive a Tuohy needle in the epidural anaesthesia procedure.

CONCLUSIONS

A semiautonomous robot can assist in the execution of this PP using the kinematic constraints obtained from the study of the movement of a specialist's hands.

摘要

背景

硬膜外麻醉是一种经皮操作（PP），在外科手术中起着至关重要的作用，而准确的进针仍然具有挑战性。本研究的目的是提出一种 Tuohy 针路径规划，允许麻醉师在远程操作机器人的协助下，在该 PP 期间半自动地驱动针尖。

方法

我们通过合成、编程和模拟参数化和标准化的运动学约束，以及在虚拟机器人中依赖于插入变量的运动学约束，来捕获、分析和模拟执行该程序期间麻醉师手部的运动。

结果

获得了两个术前路径规划模型，为远程操作机器人提供了运动学约束，以半自动方式驱动 Tuohy 针进行硬膜外麻醉。

结论

通过研究专家手部的运动，获得运动学约束，机器人可以协助执行该 PP。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/ee2303cc3c77/RCS-18-e2434-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/67c8714928a3/RCS-18-e2434-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/0ca3821a73ce/RCS-18-e2434-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/e3eea48fbe83/RCS-18-e2434-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/7c2c04f2a809/RCS-18-e2434-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/22523dd154fd/RCS-18-e2434-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/0940ba653c58/RCS-18-e2434-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/ce4d8063424c/RCS-18-e2434-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/ee2303cc3c77/RCS-18-e2434-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/67c8714928a3/RCS-18-e2434-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/0ca3821a73ce/RCS-18-e2434-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/e3eea48fbe83/RCS-18-e2434-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/7c2c04f2a809/RCS-18-e2434-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/22523dd154fd/RCS-18-e2434-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/0940ba653c58/RCS-18-e2434-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/ce4d8063424c/RCS-18-e2434-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/cef3/9787351/ee2303cc3c77/RCS-18-e2434-g002.jpg

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