Endoscopic telerobotics for neurosurgery: Preliminary study for optimal distance between an object lens and a target
Endoscopic telerobotics for neurosurgery: Preliminary study for optimal distance between an object lens and a target
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用于神经外科的内窥镜远程机器人：物镜与目标之间最佳距离的初步研究
DOI：
10.1179/016164102101200168
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发表时间：
2002
影响因子：
1.9
通讯作者：
Shigeaki Kobayashi
中科院分区：
文献类型：
--
作者：
J. Koyama;K. Hongo;Y. Kakizawa;T. Goto;Shigeaki Kobayashi
摘要为了克服内窥镜神经外科手术中操作性和程序的局限性，并最大限度地发挥其潜在的能力，开发了超实用机电一体化辅助系统HUMAN。该系统有一个刚性的三维内窥镜，内置三个引导机械手完全控制的从机器人由外科医生在一个遥远的地方。为了最有效地使用该系统，我们研究了内窥镜的物镜透镜和目标之间的合适距离。通过改变透镜与目标之间的距离，测量内窥镜手术野中镊子的实际工作区域（AWT）和实际工作角度（AWA）。随着距离的增加，AWT/AWD和AWA/360分别从58%下降到12%和从39%上升到85%。当距离超过13 mm时，AWA增加不超过85%，AWT继续下降。为了有效地使用该系统，透镜和目标之间的最佳距离应在13 mm以内，并且该系统将在8 mm的距离处最大限度地展示其能力。[Neurol Res 2002; 24：373-376]
Abstract To overcome limited maneuverability and procedures in the endoscopic neurosurgery, and to utilize its maximum potential ability, the HUMAN (hyper-utility mechatronic assistant) system has been developed. The system has a rigid three-dimensional endoscope with built-in three guiding-manipulators completely controlled as a slave robot by a surgeon in a remote place. To use this system most efficiently, we investigated the suitable distance between an object lens of the endoscope and a target. Actual working territory (AWT) and actual working angle (AWA) of the forceps in the endoscopical operative field (EOF) were measured by changing the distance between the lens and the target. AWT ratio (AWT/EOF) and AWA ratio (AWA/360) decreased from 58% to 12% and increased from 39% to 85% respectively as the distance became longer. When the distance exceeds 13 mm, AWA did not increase more than 85%, and AWT kept decreasing. For the effective use of the system, the optimal distance between the lens and the target should be within 13 mm, and the system will demonstrate its ability to the maximum at the distance of 8 mm. [Neurol Res 2002; 24: 373-376]