Design and Performance Evaluation of a Minimally Invasive Telerobotic Platform for Transurethral Surveillance and Intervention
Design and Performance Evaluation of a Minimally Invasive Telerobotic Platform for Transurethral Surveillance and Intervention
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DOI：
10.1109/tbme.2012.2226031
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发表时间：
2013-04-01
影响因子：
4.6
通讯作者：
Simaan, Nabil
中科院分区：
文献类型：
--
作者：
Goldman, Roger E.;Bajo, Andrea;Simaan, Nabil
膀胱癌是世界范围内发病率和死亡率的重要原因，由于易于经尿道进入，膀胱癌为积极治疗提供了独特的机会。虽然位置提供了优势，经尿道膀胱肿瘤切除术可以构成一个困难的挑战，外科医生受到目前的仪器或困难的解剖肿瘤位置。本文介绍了经尿道监视和手术干预的远程机器人系统的设计和评价。该实施旨在通过提供囊内灵活性平台以及新型成像和介入仪器的集成来改进当前程序并实现新手术技术的开发。该系统包括一个灵巧的连续体机器人与多个可视化和手术器械的并行部署的访问通道。本文首先介绍了经尿道入路的临床条件和目前最先进的仪器的局限性。出于临床需求，该系统的设计考虑进行了讨论，并提出了原型系统。遥控操作评价表明，亚毫米RMS定位精度和囊内灵活性适合于改善经尿道监测和干预。
Bladder cancer, a significant cause of morbidity and mortality worldwide, presents a unique opportunity for aggressive treatment due to the ease of transurethral accessibility. While the location affords advantages, transurethral resection of bladder tumors can pose a difficult challenge for surgeons encumbered by current instrumentation or difficult anatomic tumor locations. This paper presents the design and evaluation of a telerobotic system for transurethral surveillance and surgical intervention. The implementation seeks to improve current procedures and enable development of new surgical techniques by providing a platform for intravesicular dexterity and integration of novel imaging and interventional instrumentation. The system includes a dexterous continuum robot with access channels for the parallel deployment of multiple visualization and surgical instruments. This paper first presents the clinical conditions imposed by transurethral access and the limitations of the current state-of-the-art instrumentation. Motivated by the clinical requirements, the design considerations for this system are discussed and the prototype system is presented. Telemanipulation evaluation demonstrates submillimetric RMS positioning accuracy and intravesicular dexterity suitable for improving transurethral surveillance and intervention.