Interdisciplinary concept of design, actuation, control and vision computing of a laser-sintered single-port robot
Interdisciplinary concept of design, actuation, control and vision computing of a laser-sintered single-port robot
复制标题
激光烧结单端口机器人的设计、驱动、控制和视觉计算的跨学科概念
DOI：
10.1109/biorob.2014.6913751
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
T. Lüth
中科院分区：
文献类型：
--
作者：
M. F. Traeger;Daniel B. Roppenecker;B. Jensen;S. Can;A. Knoll;T. Lüth
微创手术中的一个标准程序是内窥镜黏膜下剥离术(ESD)，即切除肿瘤黏膜。目前在日常工作中使用的标准内窥镜和灵活的仪器，可操作性有限，控制方式不直观。为了克服这些缺点，我们提出了一种远程控制系统，能够独立控制两台标准的灵活内窥镜设备，具有足够的三角测量，可与经典开放手术的灵活性相媲美。通过使用生物相容聚酰胺的快速制造技术选择性激光烧结(SLS)，我们希望研究基本设计原则，将我们的远程治疗系统打印在一个部分中，并针对未来患者特定的打印输出个性化其特点。在本文中，我们概述了我们的系统，从机械设计到控制和驱动概念，再到视觉环境感知。
One standard procedure in minimally invasive surgery is the endoscopic submucosal dissection (ESD), where neoplastic mucosa is being removed. The standard endoscopes and flexible instruments currently used in everyday routine have limited maneuverability and are controlled in an unintuitive manner. To overcome these drawbacks we propose a telemanipulation system capable of independently controlling two standard flexible endoscopic instruments with sufficient triangulation that is comparable to the dexterity of classical open surgery. By using the rapid manufacturing technique selective laser sintering (SLS) of a biocompatible polyamide, we want to examine basic design principles to print our telemanipulation system in one part and to individualize its characteristics for patient specific print-out in the future. In this paper we give an overview of our system from the mechanical design via control and actuation concept to visual environment perception.