Development of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy
Development of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy
复制标题
上海交通大学可折叠单孔腹腔镜机器人系统（SURS）的开发
DOI：
10.1109/tmech.2014.2364625
复制
发表时间：
2015-10-01
影响因子：
6.4
通讯作者：
Fu, Minxiao
中科院分区：
文献类型：
--
作者：
Xu, Kai;Zhao, Jiangran;Fu, Minxiao
单孔腹腔镜（SPL）在过去的十年中引起了持续的关注，因为它可能产生比传统的多孔腹腔镜更好的手术结果。为了减轻SPL中使用手动工具的具有挑战性的手术操作任务，构建了几个机器人系统，为外科医生提供直观的操作方式。在确定了可能的改进后，上海交通大学为SPL开发了可展开机器人系统（SURS），以改进系统规格。SURS可通过折叠配置中的phi 12 mm端口部署到腹部中，然后可展开进行双臂手术干预，并带有机载3-D视觉引导。一些关键的设计概念，导致规范的改进进行了阐述。详细的设计描述，运动学建模，驱动补偿，和实验表征，以证明SURS的潜力。
Single-port laparoscopy (SPL) has attracted continuous attention in the past decade due to the potential of generating better surgical outcomes than the traditional multiport laparoscopy. In order to ease the challenging surgical manipulation tasks using manual tools in SPL, several robotic systems were constructed to provide surgeons an intuitive way to operate. With possible improvements identified, the SJTU unfoldable robotic system (SURS) for SPL is developed for improved system specifications. The SURS can be deployed into abdomen through a phi 12-mm port in its folded configuration and can then be unfolded for dual-arm surgical interventions with onboard 3-D visual guidance. A few key design concepts which lead to the specification improvements are elaborated. The design descriptions, kinematics modeling, actuation compensations, and experimental characterizations are detailed to demonstrate the potentials of the SURS.