Department of Surgery, Hamad Medical Corporation, Doha, Qatar.
Department of Electrical and Computer Engineering, University of Houston, Houston, Texas, USA.
Int J Med Robot. 2023 Apr;19(2):e2475. doi: 10.1002/rcs.2475. Epub 2022 Nov 3.
Robotic scope assistant systems are used to visualise and navigate the operative field during a laparoscopic surgery. The objective of this work is to design a surgical scope adapter that enables control of different scope types (zero-degree, angulated, and articulated), and can be connected to any six degree-of-freedom robotic manipulator for usage as a robotic scope assistant system.
A surgical scope adapter compatible with different camera heads and scope types was designed and prototyped. The technical performance of the scope adapter was evaluated and a user study was conducted to assess the human-in-the-loop control.
All the subjects were able to navigate the simulated operative field. The scope adapter permits continuous motion to explore the operative field as well as intermittent motion to accurately focus on the targeted anatomical landmarks.
The modular and generic nature of the surgical scope adapter may enable its usage across different minimally invasive surgeries.
机器人镜辅助系统用于在腹腔镜手术中可视化和导航手术区域。本研究的目的是设计一种手术镜适配器，它可以控制不同类型的镜（零度镜、倾斜镜和关节镜），并可以连接到任何六自由度机器人操纵器上，作为机器人镜辅助系统使用。
设计并制作了一种与不同摄像头和镜类型兼容的手术镜适配器。评估了镜适配器的技术性能，并进行了一项用户研究，以评估人机交互控制。
所有受试者都能够在模拟手术区域中导航。镜适配器允许连续运动以探索手术区域，也允许间歇性运动以准确聚焦于目标解剖标志。
手术镜适配器的模块化和通用性可能使其能够在不同的微创手术中使用。
