用于单人手术的腹腔镜手术机器人手臂自动换刀机构设计
Design of Automatic Tool Replacement Mechanism for Laparoscopic Surgical Robot Arm for Solo Surgery.
作者信息
Ko Daehwan, Kim Yeonkyoung, Lim Hongseok, Kim Sungmin
机构信息
Research Institute for Commercialization of Biomedical Convergence Technology, Dongguk University, Goyang, South Korea.
Department of Regulatory Science for Medical Device, Dongguk University, Seoul, South Korea.
出版信息
Int J Med Robot. 2025 Oct;21(5):e70106. doi: 10.1002/rcs.70106.
BACKGROUND
Laparoscopic robotic surgery requires intraoperative tool replacement owing to the limited number of surgical tools that can be used simultaneously. Currently, this process is performed by a surgical assistant. However, automatic tool replacement is essential for surgeons when operating alone.
METHODS
An initial design was constructed by analysing the FAST diagram of the surgical tool replacement process. It was then modified to arrive at the final design by considering the driving range of the robot arm.
RESULTS
Based on the final design, both simulation and robot arm manufacturing were performed and validated. The results showed that the posture could be maintained during tool replacement, and the entire tool replacement process could be performed in 15 s.
CONCLUSIONS
The mechanism developed for the automatic replacement of surgical tools is expected to address the shortage of surgical staff and skill level of surgical assistants.
背景
由于可同时使用的手术工具数量有限，腹腔镜机器人手术需要在术中更换工具。目前，这一过程由手术助手完成。然而，对于单独操作的外科医生来说，自动更换工具至关重要。
方法
通过分析手术工具更换过程的FAST图构建初始设计。然后，通过考虑机器人手臂的驱动范围对其进行修改，以得出最终设计。
结果
基于最终设计，进行了模拟和机器人手臂制造并验证。结果表明，在工具更换过程中可以保持姿势，整个工具更换过程可在15秒内完成。
结论
为自动更换手术工具而开发的机制有望解决手术人员短缺和手术助手技能水平问题。
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