DLR MiroSurge: a versatile system for research in endoscopic telesurgery
DLR MiroSurge: a versatile system for research in endoscopic telesurgery
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DOI：
10.1007/s11548-009-0372-4
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发表时间：
2010-03-01
影响因子：
3
通讯作者：
Hirzinger, G.
中科院分区：
文献类型：
--
作者：
Hagn, Ulrich;Konietschke, R.;Hirzinger, G.
目的外科机器人的研究需要科学方法的评估系统。这种系统可分为专用系统和通用系统。专用系统是为单一手术任务或技术而设计的，而通用系统是为可扩展和在多种手术应用中有用而设计的。然而，通用系统通常基于工业机器人，正因为如此，它们几乎不适合与人类密切接触。方法：为了实现高度的通用性，Miro机器人手术平台（MRSP）由多功能组件、专用的手术前端和外科医生可配置的接口组成。结果本文介绍了MiroSurge， MRSP的一种配置，允许双手内窥镜远程手术与力反馈。结论虽然MiroSurge系统的组件满足了力反馈机器人远程手术的严格设计要求，但该系统仍然具有通用性，这应该是进一步开发和优化的关键问题。
Purpose Research on surgical robotics demands systems for evaluating scientific approaches. Such systems can be divided into dedicated and versatile systems. Dedicated systems are designed for a single surgical task or technique, whereas versatile systems are designed to be expandable and useful in multiple surgical applications. Versatile systems are often based on industrial robots, though, and because of this, are hardly suitable for close contact with humans.Method To achieve a high degree of versatility the Miro robotic surgery platform (MRSP) consists of versatile components, dedicated front-ends towards surgery and configurable interfaces for the surgeon.Results This paper presents MiroSurge, a configuration of the MRSP that allows for bimanual endoscopic telesurgery with force feedback.Conclusions While the components of the MiroSurge system are shown to fulfil the rigid design requirements for robotic telesurgery with force feedback, the system remains versatile, which is supposed to be a key issue for the further development and optimisation.