A cable-driven soft robot surgical system for cardiothoracic endoscopic surgery: preclinical tests in animals
A cable-driven soft robot surgical system for cardiothoracic endoscopic surgery: preclinical tests in animals
复制标题
用于心胸内窥镜手术的电缆驱动软机器人手术系统：动物临床前测试
DOI：
10.1007/s00464-016-5340-9
复制
发表时间：
2017-08
影响因子：
3.1
通讯作者：
Pfeifer Rolf
中科院分区：
文献类型：
--
作者：
Wang Hesheng;Zhang Runxi;Chen Weidong;Wang Xiaozhou;Pfeifer Rolf
BackgroundMinimally invasive surgery attracts more and more attention because of the advantages of minimal trauma, less bleeding and pain and low complication rate. However, minimally invasive surgery for beating hearts is still a challenge. Our goal is to develop a soft robot surgical system for single-port minimally invasive surgery on a beating heart.Materials and methodsThe soft robot described in this paper is inspired by the octopus arm. Although the octopus arm is soft and has more degrees of freedom (DOFs), it can be controlled flexibly. The soft robot is driven by cables that are embedded into the soft robot manipulator and can control the direction of the end and middle of the soft robot manipulator. The forward, backward and rotation movement of the soft robot is driven by a propulsion plant. The soft robot can move freely by properly controlling the cables and the propulsion plant. The soft surgical robot system can perform different thoracic operations by changing surgical instruments. To evaluate the flexibility, controllability and reachability of the designed soft robot surgical system, some testing experiments have been conducted in vivo on a swine.ResultsThrough the subxiphoid, the soft robot manipulator could enter into the thoracic cavity and pericardial cavity smoothly and perform some operations such as biopsy, ligation and ablation. The operations were performed successfully and did not cause any damage to the surrounding soft tissues. From the experiments, the flexibility, controllability and reachability of the soft robot surgical system have been verified. Also, it has been shown that this system can be used in the thoracic and pericardial cavity for different operations.ConclusionsCompared with other endoscopy robots, the soft robot surgical system is safer, has more DOFs and is more flexible for control. When performing operations in a beating heart, this system maybe more suitable than traditional endoscopy robots.
登录
查看更多内容
DOI：
10.1007/s10840-007-9184-z
发表时间：
2008-01
影响因子：
1.8
作者：
Kanagaratnam, Prapa;Koa-Wing, Michael;Wallace, Daniel T.;Goldenberg, Alex S.;Peters, Nicholas S.;Davies, D. Wyn
通讯作者：
Davies, D. Wyn
DOI：
10.1007/s00464-014-3716-2
发表时间：
2015-03
期刊：
Surgical Endoscopy
影响因子：
--
作者：
J. Clark;D. Noonan;Valentina Vitiello;M. Sodergren;Jianzhong Shang;C. Payne;T. Cundy;Guang-Zhong Yang-Guan
通讯作者：
J. Clark;D. Noonan;Valentina Vitiello;M. Sodergren;Jianzhong Shang;C. Payne;T. Cundy;Guang-Zhong Yang-Guan
DOI：
10.1016/sasj-2008-0007-rr
发表时间：
2008
期刊：
SAS journal
影响因子：
--
作者：
Choo, Alexander D;Regev, Gilad;Garfin, Steven R;Kim, Choll W
通讯作者：
Kim, Choll W
DOI：
--
发表时间：
2012-06
期刊：
Transaction on Control and Mechanical Systems
影响因子：
--
作者：
Chika Hiroki;J. G. Tames;Wenwei Yu
通讯作者：
Chika Hiroki;J. G. Tames;Wenwei Yu
影响因子：
9.3
作者：
Robinson, T. N.;Stiegmann, G. V.
通讯作者：
Stiegmann, G. V.