Locally operated assistant manipulators with selectable connection system for robotically assisted laparoscopic solo surgery
Locally operated assistant manipulators with selectable connection system for robotically assisted laparoscopic solo surgery
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DOI：
10.1007/s11548-021-02338-9
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发表时间：
2021-03
影响因子：
3
通讯作者：
Shohei Fukui;T. Kawai;Y. Nishizawa;A. Nishikawa;Tatsuo Nakamura;Noriyasu Iwamoto;Y. Horise;K. Masamune
中科院分区：
文献类型：
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作者：
Shohei Fukui;T. Kawai;Y. Nishizawa;A. Nishikawa;Tatsuo Nakamura;Noriyasu Iwamoto;Y. Horise;K. Masamune
目的通过在无菌区域集成本地操作的手术辅助机器人，外科医生可以在控制腹腔镜保持机器人和钳子机器人的同时进行安全的机器人辅助腹腔镜单人手术。目前，还没有一种可切换连接的主从式控制系统能够使每个辅助从动机器人都能直观、方便地完成对引导装置的操作。在本研究中，一个新的本地操作的领导者-跟随者可选择的控制系统已经developed.MethodsThe领导者-跟随者系统的开发连接一个领导者的操作设备和两个可选的跟随者辅助机械手设备具有不同数量的轴，运动学模型，传感器，和执行器的视图稳定和拉动器官之一。该系统使用基于ORiN的医疗机器人架构MRLink的中间件构建。该系统是由机器人集成应用程序与单边领导者-追随者PTP使用的领导者设备和所选的追随者设备之间的相对位移，通过提供者的设备接口，包括信息和控制commands.ResultsThe更新位置的执行周期为50毫秒，并赶上相同的位置的时间延迟为100毫秒。两个助理机械手控制的领导者-跟随者可选系统可以成功地产生所需的视图和处理的目标器官模型为17分钟，在一个模拟的腹腔镜cholecystectomy.ConclusionsA本地操作的领导者-跟随者可选的控制系统，以方便微创，机器人辅助腹腔镜手术由医生在病人附近工作。该系统可用于此类应用。
PurposeBy integrating locally operated surgical assistant robots in a sterilized area, a surgeon can perform safe robotically assisted laparoscopic solo surgery while controlling a laparoscope-holding robot and a forceps robot. At present, there is no leader–follower control system with switchable connection for the leader device in which each assistant follower robot can provide the manipulation intuitively and easily. In the present study, a new locally operated leader–follower selectable control system has been developed.MethodsThe leader–follower system was developed to connect one leader operating device and one of two selectable follower assistant manipulator devices with different numbers of axes, kinematics models, sensors, and actuators for view stabilization and pulling organs. The system is constructed using the middleware of the ORiN-based medical robot architecture MRLink. The system is regulated by the robot integrator application with unilateral leader–follower PTP using the relative displacement between the leader device and the selected follower device through providers of device interface including the information and control commands.ResultsThe execution cycle for updating the position was 50 ms, and the time delay to catch up with the same position was 100 ms. Two assistant manipulators controlled by the leader–follower selectable system could successfully produce the desired view and handle the target organ model for 17 min in a simulated laparoscopic cholecystectomy.ConclusionsA locally operated leader–follower selectable control system was constructed to facilitate minimally invasive, robotically assisted laparoscopic solo surgery by a doctor working near the patient. This system could be used for such applications.