Experimental study on restricting the robotic end-effector inside a lesion for safe telesurgery
Experimental study on restricting the robotic end-effector inside a lesion for safe telesurgery
复制标题
将机器人末端执行器限制在病灶内进行安全远程手术的实验研究
DOI：
10.3109/13645706.2015.1033636
复制
发表时间：
2015
影响因子：
1.7
通讯作者：
Young Soo Kim
中科院分区：
文献类型：
--
作者：
Jongseong Jang;Hyung Wook Kim;B. So;Young Soo Kim
摘要简介：使用内窥镜外科机器人系统（ETSRS），作者提出了一种通过限制末端执行器在病变内的运动来提高外科手术安全性的策略。通过体模实验验证了该策略的有效性。材料和方法：该方法主要研究了基于虚拟墙的ETSRS机器人力反馈的产生和末端执行器运动的约束。碰撞检测和案例分类程序用于确定是否继续产生力反馈或限制末端执行器的运动。该方法在ETSRS中实现，并使用大脑和豆腐体模进行测试。结果如下：力反馈很好地生成成比例的插入深度和速度的线性组合的末端效应器的ETSRS从预定义的虚拟壁的表面。通过该方法，末端执行器的运动被很好地限制在虚拟墙内。虚拟墙更新足够快，可以检查当前手术情况。整个系统的控制速率>30 fps，因此该方法在体模实验中表现出可接受的性能。结论：结果表明，该策略可以很好地控制机器人末端执行器内的一个预定义的虚拟墙由机器人本身和操作员通过信号和力反馈。
Abstract Introduction: Using an endoscopic telesurgical robot system (ETSRS), the authors propose a strategy for improving the safety of telesurgery by restricting the movement of an end-effector within a lesion. The strategy is validated by phantom model experiments. Material and methods: The method focused on generation of force feedback and restriction of robotic end-effector movement of ETSRS based on a virtual wall. Collision detection and case classification procedures were used to determine whether the generation of force feedback or restricting the end-effector’s movement was continued. The method was implemented in ETSRS and tested using a brain and tofu phantom. Results: Force feedback was well generated proportional to a linear combination of the insertion depth and the velocity of the end-effector of the ETSRS from the surface of the predefined virtual wall. The movement of the end-effector was well limited inside the virtual wall by the method. The virtual wall update was sufficiently fast to check the current surgical situation. The control rate of the entire system was >30 fps so that the method showed acceptable performance in phantom experiments. Conclusion: The results show that the strategy allows for well controlled robotic end-effectors inside a predefined virtual wall by the robot itself and an operator through the signal and force feedback.
DOI：
10.1007/978-1-4471-6684-9
发表时间：
2016-03
期刊：
--
影响因子：
--
作者：
W. Burger;M. Burge
通讯作者：
W. Burger;M. Burge
用于微创神经外科的遥控显微操作系统（NeuRobot）
DOI：
--
发表时间：
2006
期刊：
Acta Neurochirurgica 98・Suppl
影响因子：
--
作者：
Hongo K;Goto T;Miyahara T;Kakizawa Y;Koyama J;Tanaka Y
通讯作者：
Tanaka Y