Miniature robots can assist in Laparoscopic cholecystectomy
Miniature robots can assist in Laparoscopic cholecystectomy
复制标题
微型机器人可辅助腹腔镜胆囊切除术
DOI：
10.1007/s00464-004-8918-6
复制
发表时间：
2005
影响因子：
3.1
通讯作者：
S. Farritor
中科院分区：
文献类型：
--
作者：
D. Oleynikov;M. Rentschler;Adnan Hadzialic;J. Dumpert;S. R. Platt;S. Farritor
腹腔镜手术减少了患者创伤，但消除了外科医生直接查看和触摸手术环境的能力。虽然目前的机器人辅助腹腔镜手术提高了外科医生操纵和可视化目标器官的能力，但器械和摄像机仍然受到入口切口的限制。这限制了工具提示方向和最佳相机放置。本文着重于开发微型体内机器人，以协助外科医生在腹腔镜手术中提供了一个增强的视野，从多个角度和灵巧的操纵器不受腹壁支点效应。微型摄像机器人通过一个小切口插入麻醉猪的腹腔。然后使用这些机器人摄像机观察套管针插入和其他腹腔镜工具放置。微型机器人提供了额外的摄像机角度，改善了胆囊切除术期间的手术可视化。这些成功的原型试验表明，微型体内机器人可以为外科医生提供额外的视觉信息，从而提高手术安全性。
Laparoscopy reduces patient trauma but eliminates the surgeon’s ability to directly view and touch the surgical environment. Although current robot-assisted laparoscopy improves the surgeon’s ability to manipulate and visualize the target organs, the instruments and cameras remain constrained by the entry incision. This limits tool tip orientation and optimal camera placement. This article focuses on developing miniature in vivo robots to assist surgeons during laparoscopic surgery by providing an enhanced field of view from multiple angles and dexterous manipulators not constrained by the abdominal wall fulcrum effect. Miniature camera robots were inserted through a small incision into the insufflated abdominal cavity of an anesthetized pig. Trocar insertion and other laparoscopic tool placements were then viewed with these robotic cameras. The miniature robots provided additional camera angles that improved surgical visualization during a cholecystectomy. These successful prototype trials have demonstrated that miniature in vivo robots can provide surgeons with additional visual information that can increase procedural safety.