使用四辊摩擦机构的柔性内窥镜操纵机器人。

IF 1.5 4区 医学 Q3 SURGERY Computer Assisted Surgery Pub Date : 2024-12-01 Epub Date: 2024-09-21 DOI:10.1080/24699322.2024.2404695
Subin Lee, Hyeonwook Kim, Jaehyeon Byeon, Seongbo Shim, Hyun-Joo Lee, Jaesung Hong
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引用次数: 0

摘要

与人工操作相比,在外科手术中操纵柔性内窥镜的机器人系统可以提高准确性和可用性。然而,以往的研究需要大型、复杂的硬件系统来实现软内窥镜电缆的旋转和平移运动。传统的通过驱动内窥镜手柄来控制内窥镜的方法也会导致内窥镜尖端与手柄之间出现意外的松弛,这在使用结肠镜等长内窥镜时变得更加棘手。本研究提出了一种结构紧凑的四滚轮摩擦机构,它可以实现旋转和平移运动,这些运动不是由内窥镜手柄触发,而是由内窥镜顶端触发。通过控制两对倾斜滚轴,可在狭小空间内实现这两种运动。拟议的系统还在手柄和尖端部分之间引入了非同步运动策略,通过采用正向松弛作为控制指标,最大限度地减少机器人在患者附近的运动。实验表明,所提出的系统实现了精确的旋转和平移运动,与之前的方法相比,非同步控制方法减少了高达 88% 的总平移运动。
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Flexible endoscope manipulating robot using quad-roller friction mechanism.

A robotic system for manipulating a flexible endoscope in surgery can provide enhanced accuracy and usability compared to manual operation. However, previous studies require large-scale, complex hardware systems to implement the rotational and translational motions of the soft endoscope cable. The conventional control of the endoscope by actuating the endoscope handle also leads to undesired slack between the endoscope tip and the handle, which becomes more problematic with long endoscopes such as a colonoscope. This study proposes a compact quad-roller friction mechanism that enables rotational and translational motions triggered not from the endoscope handle but at the endoscope tip. Controlling two pairs of tilted rollers achieves both types of motion within a small space. The proposed system also introduces an unsynchronized motion strategy between the handle and tip parts to minimize the robot's motion near the patient by employing the slack positively as a control index. Experiments indicate that the proposed system achieves accurate rotational and translational motions, and the unsynchronized control method reduces the total translational motion by up to 88% compared to the previous method.

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来源期刊
Computer Assisted Surgery
Computer Assisted Surgery Medicine-Surgery
CiteScore
2.30
自引率
0.00%
发文量
13
审稿时长
10 weeks
期刊介绍: omputer Assisted Surgery aims to improve patient care by advancing the utilization of computers during treatment; to evaluate the benefits and risks associated with the integration of advanced digital technologies into surgical practice; to disseminate clinical and basic research relevant to stereotactic surgery, minimal access surgery, endoscopy, and surgical robotics; to encourage interdisciplinary collaboration between engineers and physicians in developing new concepts and applications; to educate clinicians about the principles and techniques of computer assisted surgery and therapeutics; and to serve the international scientific community as a medium for the transfer of new information relating to theory, research, and practice in biomedical imaging and the surgical specialties. The scope of Computer Assisted Surgery encompasses all fields within surgery, as well as biomedical imaging and instrumentation, and digital technology employed as an adjunct to imaging in diagnosis, therapeutics, and surgery. Topics featured include frameless as well as conventional stereotactic procedures, surgery guided by intraoperative ultrasound or magnetic resonance imaging, image guided focused irradiation, robotic surgery, and any therapeutic interventions performed with the use of digital imaging technology.
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