Department of Instrument Science and Engineering, Shanghai Engineering Research Center for Intelligent Diagnosis and Treatment Instrument, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, People's Republic of China.
J Robot Surg. 2024 Oct 24;18(1):378. doi: 10.1007/s11701-024-02132-0.
Robot-assisted laparoscopic surgery has three main system requirements: safety, simplicity, and intuitiveness. However, accidental movement of the endoscope due to body fatigue and misunderstanding of the verbal orders between the surgeon and assistant will contribute to highly unexpected tool-tissue interactions, particularly in pediatric minimal access surgery with restricted working space. This study introduces a compact, lightweight endoscope manipulator with a mechanical remote-center-motion function. Using a custom-designed human-machine interface, the surgeon can intuitively control the movement of the endoscope manipulator over their view. In addition, an active constrained motion control algorithm is proposed to generate a forbidden-region constraint for avoiding collisions between the endoscope tip and surrounding organs in a pediatric abdominal cavity with restricted space. Simulations and experiments demonstrate the performance of the proposed compact endoscope manipulator and the active constrained surface tracking control scheme.
安全性、简单性和直观性。然而，由于身体疲劳和对术者与助手之间口头命令的误解，内窥镜的意外移动将导致高度意外的工具-组织相互作用，特别是在小儿微创外科中，工作空间有限。本研究介绍了一种紧凑、轻便的内窥镜操纵器，具有机械远程中心运动功能。使用定制设计的人机界面，术者可以直观地控制内窥镜操纵器在其视野中的运动。此外，提出了一种主动约束运动控制算法，以生成一个禁止区域约束，以避免在小儿腹部有限空间中内窥镜尖端与周围器官之间的碰撞。模拟和实验验证了所提出的紧凑内窥镜操纵器和主动约束面跟踪控制方案的性能。
