A Continuum Robot and Control Interface for Surgical Assist in Fetoscopic Interventions
A Continuum Robot and Control Interface for Surgical Assist in Fetoscopic Interventions
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DOI：
10.1109/lra.2017.2679902
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发表时间：
2017-07-01
影响因子：
5.2
通讯作者：
Stoyanov, Danail
中科院分区：
文献类型：
--
作者：
Dwyer, George;Chadebecq, Francois;Stoyanov, Danail
双胎输血综合征需要介入治疗，使用胎儿镜下引入的激光切断胎儿之间的共享血液供应。这是一项精细的手术，依靠小型仪器和有限的关节来引导激光尖端和狭窄的视野来观察所有相关的血管连接。在这封信中，我们报告了一种操纵仪器的机电一体化设计，该仪器将同心管驱动与一个受远程运动中心约束的更大的机械手结合在一起。在远端端安装立体摄像机，用于成像。我们的机构提高了成像装置的灵活性和稳定性。我们证明了该成像系统可以用于计算几何形状和增强操作现场的视图。使用电磁传感器进行验证并与远端传感器的视觉里程计进行比较的结果表明，我们的系统很有前途，可以进一步开发用于胎儿镜手术的多种临床需求。
Twin-twin transfusion syndrome requires interventional treatment using a fetoscopically introduced laser to sever the shared blood supply between the fetuses. This is a delicate procedure relying on small instrumentation with limited articulation to guide the laser tip and a narrow field of view to visualize all relevant vascular connections. In this letter, we report on a mechatronic design for a comanipulated instrument that combines concentric tube actuation to a larger manipulator constrained by a remote centre of motion. A stereoscopic camera is mounted at the distal tip and used for imaging. Our mechanism provides enhanced dexterity and stability of the imaging device. We demonstrate that the imaging system can be used for computing geometry and enhancing the view at the operating site. Results using electromagnetic sensors for verification and comparison to visual odometry from the distal sensor show that our system is promising and can be developed further for multiple clinical needs in fetoscopic procedures.