International Journal of Medical Robotics and Computer Assisted Surgery最新文献_第7页

Dimensional Synthesis of 6-DOF Parallel Robot for Intra-Operative Radiation Therapy 术中放射治疗六自由度并联机器人的尺寸综合

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery

Pub Date : 2025-06-04 DOI: 10.1002/rcs.70076

Baoying Peng, Yushuo Zhu, Chuanmeng Niu

Background

In order to meet the kinematic requirements of large range of motion, payload, and stiffness of Intra-Operative Radiation Therapy robots, a 6-degree-of-freedom (DOF) parallel platform (Stewart-Gough mechanism) is introduced and a dimensional synthesis study is carried out.

Methods

The kinematic and static stiffness models of the 6-DOF parallel robot for Intra-Operative Radiation Therapy are derived around a virtual isocentric control point. Under the premise of ensuring the positional accuracy, the optimal dimensions of the initial rod length, the radius of the fixed base and movable platform, and the circumferential angle of the 6-DOF parallel platform are obtained by using the multi-objective optimization method combining the non-dominated sorting genetic algorithm and the global 4criterion with the working space, stiffness, and load as the optimization objectives.

Results

A full-size prototype was built, and experiments on payload, range of motion, modality, and harmonic response were carried out.

Conclusions

The results show that the theoretical stiffness model has high accuracy, and the dimensional synthesised 6-DOF parallel platform can meet the clinical requirements of Intra-Operative Radiation Therapy in terms of workspace, stiffness and payload, as well as position accuracy.

Trial Registration

The equipment in this study has not yet obtained a medical device registration certificate, and the 6-DOF parallel robot for Intra-Operative Radiation Therapy experiments were conducted using a self-developed model, which has not yet been subjected to clinical trials.

为了满足术中放疗机器人大运动范围、大载荷、大刚度的运动学要求，引入了一种6自由度并联平台（Stewart-Gough机构），并进行了尺寸综合研究。方法以虚拟等心控制点为中心，建立六自由度放射治疗并联机器人的运动学和静刚度模型。在保证定位精度的前提下，以工作空间、刚度和载荷为优化目标，采用非支配排序遗传算法和全局4准则相结合的多目标优化方法，得到了初始杆长、固定底座和活动平台半径、六自由度并联平台周向角的最优尺寸。结果建立了全尺寸样机，进行了载荷、运动范围、模态和谐波响应实验。结论理论刚度模型精度较高，尺寸合成的6-DOF并联平台在工作空间、刚度、载荷、位置精度等方面均能满足术中放射治疗的临床要求。本研究设备尚未取得医疗器械注册证，术中放射治疗实验用6自由度并联机器人采用自行研制的模型，尚未进行临床试验。

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引用次数: 0

Robot-Assisted Colectomy for Left-Sided Colon Cancer: Comparison of da Vinci SP and Single-Site Platforms 机器人辅助左侧结肠癌结肠切除术：达芬奇SP与单点平台的比较

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery

Pub Date : 2025-05-29 DOI: 10.1002/rcs.70079

Kyeong Eui Kim, Woon Kyung Jeong, Seong Kyu Baek, Sung Uk Bae

Background

To compare the clinicopathological and cosmetic outcomes of robotic colectomy using the da Vinci SP and Single-Site for left-sided colon cancer.

Methods

The study included 31 and 52 patients who underwent robotic colectomy using the SP and Single-Site, respectively, between July 2011 and July 2023. The Patient Scar Assessment Questionnaire (PSAQ) was used to assess cosmetic outcomes.

Results

Patients who underwent colectomy using the SP had a shorter wound length, less bleeding, and fewer port usages compared with those who underwent colectomy using the Single-Site. The SP group required fewer analgesics on post-operative day 2, showed a shorter time to flatulence, sip water and soft diet, and a shorter hospital stay. Total PSAQ scores for the SP group were superior to those of the Single-Site group.

Conclusions

Robotic colectomy for left-sided colon cancer using the SP presents better short-term recovery, requires fewer analgesics and has better cosmetic outcomes than Single-Site.

研究背景：比较达芬奇机器人结肠切除术和单侧结肠切除术治疗左侧结肠癌的临床病理和美容效果。方法本研究纳入2011年7月至2023年7月期间分别采用SP和Single-Site进行机器人结肠切除术的31例和52例患者。患者疤痕评估问卷（PSAQ）用于评估美容效果。结果与单站点结肠切除术患者相比，使用SP的患者伤口长度更短，出血更少，端口使用更少。SP组术后第2天需要的镇痛药较少，出现胀气、喝水和软性饮食的时间较短，住院时间较短。SP组的PSAQ总分优于单位点组。结论采用SP进行左侧结肠癌机器人结肠切除术，短期恢复效果好，需要的镇痛药物少，美容效果好。

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引用次数: 0

Retroperitoneal Versus Transperitoneal Robot Assisted Partial Nephrectomy: A Prospective Controlled Non-Randomized Single Centre Study Non-Inferiority Design 后腹膜与经腹膜机器人辅助部分肾切除术：一项前瞻性对照非随机单中心研究非劣效设计

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery

Pub Date : 2025-05-27 DOI: 10.1002/rcs.70077

Rene Mager, Igor Tsaur, Thomas Höfner, Mohamed Kamal Gheith, Gregor Duwe, Maximilian Haack, Jonathan Azar, Brahim Aboulmaouahib, Stefanie Ziewers, Peter Sparwasser, Lisa Frey, Anita Thomas, Axel Haferkamp

Background

The value of the retroperitoneal (R-RAPN) compared with the conventional transperitoneal (T-RAPN) approach in robot-assisted partial nephrectomy has not been finally clarified. The current work's objective was to prospectively investigate R-RAPN versus T-RAPN.

Methods

The study was designed as a prospective, controlled, non-randomized study with a non-inferiority design. The primary endpoint was Trifecta achievement. The sample size calculation required 141 T-RAPN and 94 R-RAPN.

Results

When the recruitment target of 141 was reached in the T-RAPN arm, only 34 R-RAPN had been performed, so the study was terminated early. Trifecta as the main outcome parameter was achieved in 82% of the R-RAPN and 76% of the T-RAPN groups, so no sign for inferiority could be detected (p = 0.6).

Conclusions

In this prospective study, there was no evidence of inferiority of R-RAPN compared to T-RAPN for the Trifecta endpoint. R-RAPN may be an individually advantageous alternative to T-RAPN for selected patients.

Trial Registration

The study was registered in the German Clinical Trials Register (DRKS00028619).

背景在机器人辅助部分肾切除术中，腹膜后（R-RAPN）入路与常规经腹膜（T-RAPN）入路的比较价值尚未最终明确。目前的工作目的是前瞻性地研究R-RAPN与T-RAPN。方法采用前瞻性、对照、非随机、非劣效性设计。主要终点是triecta的疗效。样本量计算需要141个T-RAPN和94个R-RAPN。结果当T-RAPN组达到141个募集目标时，仅进行了34个R-RAPN，因此研究提前终止。trecta作为主要结局参数在82%的R-RAPN组和76%的T-RAPN组中实现，因此没有检测到劣效性的迹象（p = 0.6）。结论：在这项前瞻性研究中，没有证据表明R-RAPN与T-RAPN相比在Trifecta终点具有劣势。对于特定的患者，R-RAPN可能是T-RAPN的一种有利的替代方案。该研究已在德国临床试验注册中心（DRKS00028619）注册。

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引用次数: 0

Stereo Endoscopic Camera Pose Optimal Estimation by Structure Similarity Index Measure Integration 基于结构相似度测度积分的立体内窥镜相机位姿优化估计

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery

Pub Date : 2025-05-25 DOI: 10.1002/rcs.70078

Ruoqi Lian, Wei Li, Junchen Hao, Yanfang Zhang, Fucang Jia

Background

Accurate endoscopic camera pose estimation is crucial for real-time AR navigation systems. While current methods primarily use depth and optical flow, they often ignore structural inconsistencies between images.

Methods

Leveraging the RAFT framework, we process sequential stereo RGB pairs to extract optical flow and depth features for pose estimation. To address structural inconsistencies, we refine the weights for both 2D and 3D residuals by computing SSIM indices for the left and right views, as well as pre- and post-optical flow transformations. The SSIM metric is also used in the loss function.

Results

Experiments on the StereoMIS dataset demonstrate our method's improved pose estimation accuracy compared to rigid SLAM methods, showing a lower accumulated trajectory error (ATE-RMSE: 18.5 mm). Additionally, ablation experiments achieved an 11.49% reduction in average error.

Conclusion

The pose estimation accuracy has been improved by incorporating SSIM. The code is available at: https://github.com/lianrq/pose-estimation-by-SSIM-Integration.

准确的内窥镜相机姿态估计是实时AR导航系统的关键。虽然目前的方法主要使用深度和光流，但它们经常忽略图像之间的结构不一致性。方法利用RAFT框架，对序列立体RGB对进行处理，提取用于姿态估计的光流和深度特征。为了解决结构不一致性，我们通过计算左视图和右视图的SSIM指数以及前后光流变换来细化2D和3D残差的权重。SSIM度量也用于损失函数。结果在StereoMIS数据集上的实验表明，与刚性SLAM方法相比，我们的方法提高了姿态估计精度，显示出更低的累积轨迹误差（late - rmse: 18.5 mm）。此外，烧蚀实验的平均误差降低了11.49%。结论结合SSIM提高了姿态估计的精度。代码可从https://github.com/lianrq/pose-estimation-by-SSIM-Integration获得。

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引用次数: 0

MF-ResUnet: A 3D Liver Image Segmentation Method Based on Multi-Scale Feature Fusion MF-ResUnet：基于多尺度特征融合的三维肝脏图像分割方法

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery

Pub Date : 2025-05-21 DOI: 10.1002/rcs.70068

Jun Qin, Yang Li, Guihe Qin

Background

Due to the variable shapes of the liver parenchyma, minimal voxel intensity differences with adjacent organs, and discontinuous liver boundaries, automatic liver segmentation from computerised tomography images poses significant challenges.

Methods

In this study, we propose a 3D liver segmentation method based on multiscale feature fusion. This network employs SE channel attention to recalibrate liver features. Additionally, it utilises an AMF module for multiscale feature fusion to obtain rich spatial information. Furthermore, we introduce the NGAB module to address the deteriorating effects of dilated convolutions as the dilation rate increases, contributing to enhanced feature representation and improving accuracy in liver segmentation.

Results

Experimental results on the publicly available LiTS2017 dataset and 3DIRCADb dataset show that our proposed framework achieves a DSC of 0.977 and 0.967 in liver segmentation, respectively.

Conclusions

The proposed method can adequately capture multiscale characteristics, showing promising prospects for automatic liver segmentation.

由于肝实质形状多变，与邻近器官体素强度差异极小，以及肝脏边界不连续，从计算机断层扫描图像中自动分割肝脏提出了重大挑战。方法提出一种基于多尺度特征融合的三维肝脏分割方法。该网络利用SE通道关注来重新校准肝脏特征。利用AMF模块进行多尺度特征融合，获取丰富的空间信息。此外，我们引入了NGAB模块来解决扩张卷积随着扩张率的增加而恶化的影响，有助于增强特征表示并提高肝脏分割的准确性。结果在公开的LiTS2017数据集和3DIRCADb数据集上的实验结果表明，我们提出的框架在肝脏分割方面的DSC分别达到了0.977和0.967。结论该方法能充分捕捉多尺度特征，在肝脏自动分割中具有广阔的应用前景。

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引用次数: 0

An Adaptive Shared Control Frame and Feedback Rendering in Interactive Robot-Assisted Surgical Manipulation 交互式机器人辅助手术操作中的自适应共享控制框架与反馈渲染

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery

Pub Date : 2025-05-19 DOI: 10.1002/rcs.70069

Hao Ren, Li Zhichao, Qingyuan Wu, Xiaodong Ma, Dan Wu

Background

In an unstructured environment where real-time human decision is essential, shared control allows collaboration between humans and robotic systems, combining advantages of both. However, existing control methods are challenged with precision loss, inconsistency and interference from unconscious human inputs.

Methods

An adaptive anisotropic control frame is presented, enabling interaction both operational and tactical levels. Using predefined trajectory, a dynamic weight function is proposed to allow the human operator to override. Movement along preferred direction is encouraged and compensated, providing accurate real-time tracking performance. Haptic feedback during shared control is evaluated and optimised.

Results

Experiments validate that the raised method can achieve a tracking precision of $� � � \pm � 0.17 � m � m � � �$ under milling payload, with sensible feedback to the operator. The override manipulation can be rapidly made within 0.4 s as the tactical level interaction.

Conclusion

The proposed approach provides both stability and flexibility in interactive surgical manipulations, maintaining similar precision with autonomous execution.

在非结构化环境中，实时的人类决策是必不可少的，共享控制允许人类和机器人系统之间的协作，结合两者的优势。然而，现有的控制方法存在精度损失、不一致性和无意识人为输入的干扰等问题。方法提出了一种自适应各向异性控制框架，实现了作战和战术层面的相互作用。利用预定义的轨迹，提出了一个动态权函数，允许人工操作员进行覆盖。运动沿着首选方向鼓励和补偿，提供准确的实时跟踪性能。对共享控制过程中的触觉反馈进行了评估和优化。结果实验验证了该方法在铣削载荷下的跟踪精度为±0.17mm$ pm 0.17mm$，并对操作者进行了合理的反馈。作为战术级交互，可以在0.4 s内快速完成超驰操作。结论该方法在交互式手术操作中提供了稳定性和灵活性，保持了与自主操作相似的精度。

{"title":"An Adaptive Shared Control Frame and Feedback Rendering in Interactive Robot-Assisted Surgical Manipulation","authors":"Hao Ren, Li Zhichao, Qingyuan Wu, Xiaodong Ma, Dan Wu","doi":"10.1002/rcs.70069","DOIUrl":"https://doi.org/10.1002/rcs.70069","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In an unstructured environment where real-time human decision is essential, shared control allows collaboration between humans and robotic systems, combining advantages of both. However, existing control methods are challenged with precision loss, inconsistency and interference from unconscious human inputs.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>An adaptive anisotropic control frame is presented, enabling interaction both operational and tactical levels. Using predefined trajectory, a dynamic weight function is proposed to allow the human operator to override. Movement along preferred direction is encouraged and compensated, providing accurate real-time tracking performance. Haptic feedback during shared control is evaluated and optimised.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Experiments validate that the raised method can achieve a tracking precision of <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mo>±</mo>\u0000 <mn>0.17</mn>\u0000 <mi>m</mi>\u0000 <mi>m</mi>\u0000 </mrow>\u0000 <annotation> $pm 0.17mm$</annotation>\u0000 </semantics></math> under milling payload, with sensible feedback to the operator. The override manipulation can be rapidly made within 0.4 s as the tactical level interaction.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The proposed approach provides both stability and flexibility in interactive surgical manipulations, maintaining similar precision with autonomous execution.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 3","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144085196","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

DP4AuSu: Autonomous Surgical Framework for Suturing Manipulation Using Diffusion Policy With Dynamic Time Wrapping-Based Locally Weighted Regression DP4AuSu：基于动态时间包裹的局部加权回归扩散策略的自主缝合手术框架

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery

Pub Date : 2025-05-19 DOI: 10.1002/rcs.70072

Wenda Xu, Zhihang Tan, Zexin Cao, Haofei Ma, Gongcheng Wang, Han Wang, Weidong Wang, Zhijiang Du

Background

Emerging imitation learning (IL) approaches have provided innovative solutions for completing surgical robotic suturing autonomously, significantly aiding surgeons in their manipulations.

Methods

We introduce Diffusion Policy for Autonomous Suturing (DP4AuSu), a novel framework that leverages diffusion policy (DP) and dynamic time wrapping-based locally weighted regression to achieve autonomous robotic suturing.

Results

In simulation, DP4AuSu achieved a 94% success rate for insertion subtasks over 50 trials. In a real-world setting, it achieves 85% success rate over 20 trials for suturing manipulations in 390.55–41.59s faster than conventional diffusion policy.

Conclusions

Our novel framework can capture the multimodality in demonstrations and successfully learn the suturing policy and reduce the suturing time. To the best of our knowledge, this work represents the first application of diffusion policy for robotic suturing. We hope this research paves the way for the automation of more complex surgical tasks.

新兴的模仿学习（IL）方法为自主完成手术机器人缝合提供了创新的解决方案，极大地帮助了外科医生的操作。方法引入自主缝合的扩散策略（Diffusion Policy for Autonomous suture, DP4AuSu），这是一个利用扩散策略（Diffusion Policy， DP）和基于动态时间包裹的局部加权回归来实现机器人自主缝合的新框架。结果在仿真中，DP4AuSu在50次试验中插入子任务的成功率达到94%。在现实环境中，与传统的扩散策略相比，它在390.55 - 41.59秒内完成了20次缝合操作，成功率达到85%。结论该框架能有效地捕捉多模态，有效地学习缝合策略，缩短缝合时间。据我们所知，这项工作代表了扩散策略在机器人缝合中的首次应用。我们希望这项研究能为更复杂的手术任务的自动化铺平道路。

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引用次数: 0

Design of a Rigid-Flex Coupling Flexible Manipulator for Endoscopic Sinus Surgery 内镜鼻窦手术用刚柔耦合柔性机械臂的设计

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery

Pub Date : 2025-05-16 DOI: 10.1002/rcs.70075

Hongyu Cheng, Zheng Liu, Shuang Wang, Le Xie

Background

Current instruments used in tight spaces face challenges. Additionally, accessing the endoscopic sinus pathway is complex due to its curved and narrow nature, requiring intricate manual manoeuvres. Therefore, there is a demand for the development of a flexible instrument.

Methods

In this study, a rigid-flex coupling flexible manipulator was designed specifically for endoscopic sinus surgery. The investigation includes various theoretical analyses such as clinical requirements, stiffness, kinematics, statics and master–slave control strategy.

Results

The manipulator is fabricated and its properties is evaluated. The experimental results demonstrate that the proposed theoretical model accurately describes the motion of the manipulator. Furthermore, the feasibility of the manipulator was verified using both 3D-printed sinus models and human head models.

Conclusions

Based on our findings, the proposed flexible manipulator successfully meets the basic requirements of endoscopic sinus surgery.

当前在狭小空间中使用的仪器面临着挑战。此外，由于其弯曲和狭窄的性质，进入内窥镜窦通道是复杂的，需要复杂的手动操作。因此，有必要开发一种灵活的仪器。方法设计一种专为内镜鼻窦手术设计的刚柔耦合柔性机械臂。研究包括临床要求、刚度、运动学、静力学和主从控制策略等理论分析。结果制备了机械手，并对其性能进行了评价。实验结果表明，该理论模型准确地描述了机械手的运动。此外，利用3d打印鼻窦模型和人体头部模型验证了该机械手的可行性。结论根据我们的研究结果，所提出的柔性机械臂成功地满足了内镜鼻窦手术的基本要求。

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引用次数: 0

Robot-Assisted Radical Cystectomy With Intracorporeal Ileal Conduit Using the Hinotori Surgical Robot System: A Single Surgeon's Initial Experience of 20 Cases 利用Hinotori手术机器人系统辅助根治性膀胱切除术伴体内回肠导管：单个外科医生20例的初步经验

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery

Pub Date : 2025-05-16 DOI: 10.1002/rcs.70074

Hiromitsu Watanabe, Yuto Matsushita, Keita Tamura, Daisuke Motoyama, Atsushi Otsuka, Hideaki Miyake

Background

The objective of this study was to assess the perioperative outcomes of robot-assisted radical cystectomy (RARC) with intracorporeal ileal conduit (ICIC) using the hinotori surgical robot system.

Methods

This retrospective study included 20 consecutive patients with bladder cancer who underwent RARC with ICIC using hinotori from October 2023 to July 2024. Major perioperative outcomes were comprehensively analysed.

Results

The median operative time, time using the robotic system, bowel reconstruction and urinary diversion time, and estimated blood loss were 435.0, 330.0, 122.5 min, and 175.0 mL, respectively. No marked intraoperative complications were observed. Perioperative, 30-day, and 90-day complications occurred at rates of 25%, 10%, and 0%, respectively. The learning curve tended to decrease in a case volume-dependent manner.

Conclusions

RARC using hinotori was successfully completed, and favourable perioperative outcomes were achieved without severe complications. This suggests that RARC using hinotori provides a potentially comparable alternative to conventional surgical systems.

本研究的目的是评估机器人辅助根治性膀胱切除术（RARC）与体内回肠导管（ICIC）使用hinotori手术机器人系统的围手术期效果。方法回顾性研究包括2023年10月至2024年7月期间连续20例膀胱癌患者行RARC联合ICIC治疗。综合分析围手术期主要结局。结果手术时间中位数为435.0 min，机器人系统使用时间中位数为330.0 min，肠重建和尿改道时间中位数为122.5 min，估计失血量中位数为175.0 mL。术中未见明显并发症。围手术期、30天和90天的并发症发生率分别为25%、10%和0%。学习曲线呈病例量相关的下降趋势。结论hinotori的RARC手术成功完成，围手术期预后良好，无严重并发症。这表明RARC使用hinotori提供了一种潜在的可与传统手术系统相媲美的替代方案。

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引用次数: 0

Design and Evaluation of an Omnidirectional Wheel-Driven Endoscope-Assisted Robotic System Based on Motion Capture Control 基于运动捕捉控制的全向轮驱动内窥镜辅助机器人系统设计与评价

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery

Pub Date : 2025-05-14 DOI: 10.1002/rcs.70070

Xinyi Yu, Yinkai Chen, Baiming Shi, Hao Zhuo, Libo Zhou, Yuye Ma, Yan Wei, Linlin Ou

Background

In endoscopic surgery, surgeons collaborate with assistants to manipulate the endoscope and instruments, making it impossible to perform the surgery independently.

Methods

We propose an endoscopic assistive robot based on motion capture control, enabling surgeons to control the endoscope with one hand. The system uses cameras at the master end to capture real-time motion information from the marker accessory, determining the surgeon's intent. It then controls the robot at the slave end to simulate surgical delivery actions, enabling precise endoscopic positioning through master-slave mapping. The omnidirectional wheel design addresses coupling issues of traditional friction wheels, significantly improving control accuracy.

Results

Testing demonstrated a maximum delivery error of 3.99% and 45.77% improvement in rotational precision. The system received positive feedback in both simulated and animal trials.

Conclusions

The system empowers surgeons to perform endoscopic procedures independently, establishing a foundation for advancing diagnosis and treatment of gastric diseases.

在内窥镜手术中，外科医生与助手合作操作内窥镜和器械，使其无法独立进行手术。方法提出一种基于动作捕捉控制的内窥镜辅助机器人，使外科医生能够单手控制内窥镜。该系统使用主端摄像头捕捉来自标记配件的实时运动信息，确定外科医生的意图。然后，它控制从端机器人模拟手术分娩动作，通过主从映射实现精确的内窥镜定位。全向轮设计解决了传统摩擦轮的耦合问题，显著提高了控制精度。结果实验结果表明，该系统最大传送误差为3.99%，旋转精度提高45.77%。该系统在模拟和动物试验中都得到了积极的反馈。结论该系统使外科医生能够独立完成内镜手术，为推进胃病的诊断和治疗奠定了基础。

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引用次数: 0