Begin E, Gagner M, Hurteau R, de Santis S, Pomp A
Department of Surgery, Hotel-Dieu de Montreal, University of Montreal, Canada.
Surg Laparosc Endosc. 1995 Feb;5(1):6-11.
The aim of this project was to replace the surgical assistant for common laparoscopic procedures with a robotic camera. The motions of the human camera operator were defined and expressed mathematically by a spherical displacement model. A revolving robotic arm with six degrees of freedom was employed in conjunction with this model as an automated camera in the performance of cholecystectomy, Taylor and Nissen procedures in animals, and cholecystectomy in humans. It represents a first step toward the introduction of robotic technology in laparoscopic surgery.
该项目的目标是用机器人摄像头取代普通腹腔镜手术中的手术助手。通过球面位移模型对人类摄像头操作员的动作进行了定义并以数学方式表示。结合该模型，使用了一个具有六个自由度的旋转机器人手臂作为自动摄像头，用于在动物身上进行胆囊切除术、泰勒手术和nissen手术，以及在人类身上进行胆囊切除术。这代表了在腹腔镜手术中引入机器人技术的第一步。
