Dexterity enhancement in endoscopic surgery by a computer-controlled mechanical wrist
Dexterity enhancement in endoscopic surgery by a computer-controlled mechanical wrist
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DOI：
10.3109/13645709909153167
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发表时间：
1999-08-01
影响因子：
1.7
通讯作者：
Mohr, FW
中科院分区：
文献类型：
--
作者：
Falk, V;McLoughlin, J;Mohr, FW
由于运动范围有限，使用传统内窥镜器械会导致技术不准确且耗时。遥控系统可以克服这些限制。这项研究比较了使用具有四个或六个自由度 (DOF) 的外科远程操纵器的个人表现。 20 名非专业人士和 10 名专业人士（内窥镜外科医生；> 100 例内窥镜手术）使用直观外科远程操作系统在满负荷状态下执行了一组专门设计的任务，具有六个自由度，或者在只有四个自由度的受限移动模式下（手腕锁定）。评估执行每项任务的时间和错误率。与四自由度系统相比，在非专业组中，使用六自由度系统时执行任务的时间和错误率都减少了。通过使用手腕提高灵活性，完成复杂内窥镜任务所需的时间减少了 40%。在专业组中，使用六自由度系统执行所有四项任务，执行任务所需的时间明显减少；错误率也显着降低（任务 III 除外）。这些结果证实，与四自由度系统相比，六自由度遥控系统提高了灵活性。六自由度系统为执行内窥镜显微手术提供了更高的速度和准确性，并且最好用于复杂的外科手术。
The use of conventional endoscopic instruments results in inaccurate and time-consuming techniques due to the limited range of motion. Telemanipulation systems may overcome these constraints. This study compares individual performance using a surgical tele-manipulator with either four or six degrees of freedom (DOF). Twenty non-professionals and 10 professionals (endoscopic surgeons; > 100 endoscopic procedures) performed a specially-designed set of tasks using the Intuitive Surgical telemanipulation system at full capacity with six DOF, or in a reduced mobility mode with only four DOF (wrist-locked). Time and error rate for performing each task were assessed. In the non-professional group both time to perform the tasks and error rates were reduced when working with a six DOF system, as compared with the four DOF system. Dexterity enhanced by using the wrist reduced the time needed to complete a complex endoscopic task by 40%. In the professional group the time needed to perform the task was significantly less using the six DOF system for all four tasks; the error rate was also significantly lower (except for Task III). These results confirm that a six DOF telemanipulation system enhances dexterity as compared with a four DOF system. A six DOF system provides higher speed and accuracy for performing endoscopic microsurgery and should preferably be used in complex surgical procedures.