Flexible instrument with contact-aided structure and force feedback for endoscopic surgery

IF 2.3 3区医学 Q2 SURGERY International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-09-04 DOI:10.1002/rcs.2573

Chi Zhang, Zhongyuan Ping, Siyang Zuo

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Abstract

Background

Robot-assisted surgery can effectively reduce the difficulty and improve the success rate of the surgeries. However, currently available flexible instruments have several limitations, such as large size, few degrees of freedom, and lack of contact force perception.

Methods

This study proposes a master-slave flexible instrument capable of force feedback. The instrument has a maximum outer diameter of 3 mm and an overall length of 1200 mm. With the internal working channel unoccupied, a three-dimensional force sensing unit is designed based on the neural network. The corresponding master-slave control method with proportional force feedback was also designed to effectively control the instrument.

Results

To verify the effectiveness of the system, in vitro and in vivo experiments were conducted. The corresponding tasks were successfully completed.

Conclusions

The animal trial conducted in the digestive tract of a live swine proved that the system has the potential for clinical use.

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用于内窥镜手术的具有接触辅助结构和力反馈的柔性器械。

背景：机器人辅助手术可以有效降低手术难度，提高手术成功率。然而，目前可用的柔性仪器有几个局限性，例如尺寸大、自由度少以及缺乏接触力感知。方法：提出一种具有力反馈功能的主从式柔性仪器。该仪器的最大外径为3毫米，总长度为1200毫米。在内部工作通道未占用的情况下，设计了一种基于神经网络的三维力传感单元。设计了相应的比例力反馈主从控制方法，有效地控制了仪器。结果：为了验证该系统的有效性，进行了体外和体内实验。相应的任务已成功完成。结论：在活体猪消化道中进行的动物试验证明该系统具有临床应用潜力。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.