Dexterity enhancement with robotic surgery
Dexterity enhancement with robotic surgery
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DOI：
10.1007/s00464-003-8922-2
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发表时间：
2004-05-01
影响因子：
3.1
通讯作者：
Darzi, A
中科院分区：
文献类型：
--
作者：
Moorthy, K;Munz, Y;Darzi, A
背景：本研究的目的是量化机器人手术与腹腔镜手术相比灵活性增强的程度。方法：要求 10 名具有不同腹腔镜缝合经验的外科医生在缝合垫上放置三根缝合线。缝合线通过腹腔镜、2D 视觉机器人和 3D 视觉机器人放置。达芬奇系统的应用程序编程接口（API）用于位置数据。经验证的运动分析系统用于腹腔镜任务的数据检索。开发了用于数据分析的定制软件。结果：与腹腔镜缝合相比，当使用二维视觉机器人执行任务时，所需时间减少了 20%，但这并不显着 (p = 0.07)。右手行走的路径减少了 55% (p = 0.01)，左手行走的路径减少了 45% (p = 0.008)。当使用 3D 视觉机器人执行任务时，所需时间减少了 40% (p = 0.01)。右手移动的路径减少了 70% (p = 0.008)，左手移动的路径减少了 55% (p = 0.08)。结论：与腹腔镜手术相比，“手腕”器械、震颤消除和运动缩放的存在使灵活性提高了近 50%。 3D 视觉将灵活性进一步提高 10-15%。此外，3D 视觉的出现使基于技能的错误减少了 93%。
Background: The aim of this study was to quantify the extent of dexterity enhancement in robotic surgery as compared to laparoscopic surgery.Methods: Ten surgeons with varying laparoscopic suturing experience were asked to place three sutures on a suture pad. The sutures were placed laparoscopically, robotically with 2-D vision and robotically with 3-D vision. The da Vinci system's Application Programming Interface (API) was used for positional data. A validated motion analysis system was used for data retrieval for the laparoscopic task. Custom software was developed for data analysis.Results: Compared to laparoscopic suturing, when the task was undertaken robotically with 2-D vision there was a 20% reduction in the time taken but this was not significant (p = 0.07). There was a 55% reduction in the path traveled by the right hand (p = 0.01) and a 45% reduction in the path traveled by the left hand (p = 0.008). When the task was undertaken robotically with 3-D vision, there was a 40% reduction in the time taken (p = 0.01). There was a 70% reduction in the path traveled by right hand (p = 0.008) and a 55% reduction by the left hand (p = 0.08).Conclusions: The presence of "wristed" instrumentation, tremor abolition, and motion scaling enhance dexterity by nearly 50% as compared to laparoscopic surgery. 3-D vision enhances dexterity by a further 10-15%. In addition, the presence of 3-D vision results in a 93% reduction in skills-based errors.