Toward image-guided robotic surgery: determining intrinsic accuracy of the daVinci robot
Toward image-guided robotic surgery: determining intrinsic accuracy of the daVinci robot
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DOI：
10.1007/s11548-006-0047-3
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发表时间：
2006-11-01
影响因子：
3
通讯作者：
Galloway, Robert L.
中科院分区：
文献类型：
--
作者：
Kwartowitz, David M.;Herrell, S. Duke;Galloway, Robert L.
近年来，机器人技术在医学中的应用不断增长。达芬奇（Intuitive Surgical，桑尼维尔，加利福尼亚州，美国）等专用手术机器人的引入在很大程度上推动了这一增长。目前可用的机器人辅助手术系统仅依靠通过使用腹腔镜摄像机的直视进行手术引导。虽然这些相机提供表面的立体视图，但它们无法显示手术表面下方的情况。在其他手术发展中，图像引导已成为导航和规划的一个组成部分，可以帮助了解手术平面下方的位置。作为机器人图像引导手术 (RIGS) 系统开发的早期步骤，必须评估手术机器人的物理限制。本文量化了达芬奇手术系统的准确度和精密度。结果表明，达芬奇系统可以成功定位一个点，其近似基准定位误差（FLE）为 1 mm。该 FLE 值表明达芬奇处于其他常用手术定位器的精度范围内。
The use of robotics in medicine has been growing in recent years. The introduction of specialized robots for surgery such as the daVinci (Intuitive Surgical, Sunnyvale, CA, USA) has largely motivated this growth. The currently available robotic-assisted surgery systems rely only on direct vision through the use of a laparoscopic camera for surgical guidance. While these cameras provide a stereoscopic view of the surface, they are incapable of showing beneath the surgical surface. In other surgical developments, image guidance has become an integral part of navigation and planning, allowing understanding of the locations beneath the surgical plane. As an early step in the development of a robotic image-guided surgical (RIGS) system, the physical limitations of a surgical robot must be assessed. In this paper the accuracy and the precision of the daVinci surgical system are quantified. It is shown that the daVinci system can successfully localize a point with an approximate fiducial localization error (FLE) of 1 mm. This FLE value demonstrates that the daVinci is within the accuracy limits of the other commonly used surgical localizers.