Automated knot tying for fixation in minimally invasive, robot-assisted cardiac surgery.
Automated knot tying for fixation in minimally invasive, robot-assisted cardiac surgery.
复制标题
在微创机器人辅助心脏手术中自动打结固定。
DOI：
10.1115/1.2055307
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
Orrico,M
中科院分区：
文献类型：
--
作者：
Kuniholm,JF;Buckner,GD;Nifong,W;Orrico,M
心血管疾病（CVD）可能是全球最重要的健康问题。虽然心脏直视手术仍然是主要的治疗方法，但微创手术 (MIS) 和微创机器人辅助 (MIRA) 手术已经取得了重大进展。 MIRA 技术比心脏直视手术具有许多优势，并扩展了 MIS 的功能。然而，这些好处的代价是由于打结所花费的时间而增加了操作时间。额外的旁路时间限制了患者的接触，并且是采用 MIRA 技术的最大障碍。这项研究旨在通过设计一种用于 MIRA 心脏手术的设备来克服这一障碍，该设备可以自动打结缝合线。如果这项任务能够实现自动化，同时确保交付高质量的绳结，那么该领域的转型就能取得巨大进展。 MIRA 心脏手术可以从由一组选定的外科医生对有限的患者进行的新颖手术转变为可供大多数 CVD 患者使用的可行替代方案。在这项研究中，我们提出了一种提供锁结的独立装置的设计。结果表明，对于经过培训和未经培训的手术机器人用户来说，与手动打结相比，打出一致的结可以分别节省 12.5% 和 26.4% 的时间。
Cardiovascular disease (CVD) is perhaps the most significant worldwide health issue. While open-heart surgery remains the predominant treatment, significant advancements have been made in minimally invasive surgery (MIS) and minimally invasive robot-assisted (MIRA) surgery. MIRA techniques offer many advantages over open-heart procedures and have extended the capabilities of MIS. However, these benefits come at the cost of increased operating times due to time spent tying knots. The additional bypass time limits patient access and is the most significant barrier to the adoption of MIRA techniques. This research seeks to overcome this barrier by designing a device for MIRA cardiac procedures that automates the knotting of sutures. If this task can be automated while ensuring the delivery of high-quality knots, great progress can be made in transforming the field. MIRA cardiac procedures can move from novel procedures performed by a select group of surgeons on a limited pool of patients to a viable alternative available to the majority of patients with CVD. In this research we propose a design for a self-contained device that delivers a locking knot. Results suggest that consistent knots can be delivered at a time savings of 12.5% and 26.4% over manual knots for trained and untrained users of a surgical robot, respectively.