Development of a remote minimally-invasive surgical system with operational environment transmission capability
Development of a remote minimally-invasive surgical system with operational environment transmission capability
复制标题
具有手术环境传输能力的远程微创手术系统的研制
DOI：
10.1109/robot.2003.1241995
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
M. Hashizume
中科院分区：
文献类型：
--
作者：
M. Mitsuishi;J. Arata;Katsuya Tanaka;M. Miyamoto;T. Yoshidome;S. Iwata;S. Warisawa;M. Hashizume
本文介绍了一种具有力反馈功能的远程内窥镜手术系统。该系统由多媒体驾驶舱、手术现场和通信链路组成。多媒体驾驶舱配备有力反馈型主操纵器、视觉和听觉信息呈现装置以及脚踏开关。具有3个臂的从操纵器位于手术部位;左右臂保持镊子或射频刀，中心臂保持内窥镜。从机械手有一个特殊的安全机制。生命体征也可以传输到驾驶舱。在实验中，在150公里的距离上成功地对猪进行了胆囊切除术。
This paper describes a tele-endoscopic surgical system with force feedback capability. The system consists of multi-media cockpit, surgical site and communication link. The multimedia cockpit is equipped with force feedback type master manipulators, visual and auditory information presentation apparatuses, and foot switches. A slave manipulator with 3 arms is located at the surgical site; the left and right arms hold forceps or a radio knife and the center arm holds an endoscope. The slave manipulator has a special safety mechanism. Vital signs can be also transmitted to the cockpit. In the experiment, a cholecystectomy was successfully performed on a pig at the distance of 150 km.