Toward the Design of Personalized Continuum Surgical Robots.
Toward the Design of Personalized Continuum Surgical Robots.
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DOI：
10.1007/s10439-018-2062-2
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发表时间：
2018-10
影响因子：
3.8
通讯作者：
Okamura AM
中科院分区：
文献类型：
--
作者：
Morimoto TK;Greer JD;Hawkes EW;Hsieh MH;Okamura AM
与传统手术相比，机器人辅助微创手术系统可以减少疼痛、缩短恢复时间并减少疤痕。虽然这些改进使大量患者受益，但由于解剖学上的差异，包括儿科患者在内的特殊患者群体并不总是能够安全地进入患病部位。我们提出了一种针对患者的设计范例，利用外科医生的专业知识根据术前医学图像设计和制造机器人。患者专用机器人设计流程的组成部分包括虚拟现实设计界面，使外科医生能够设计患者专用工具、使用可生物降解聚酯对这些工具进行 3D 打印，以及用于部署的驱动和控制系统。设计的机器人是同心管机器人，是一种由预弯曲的弹性嵌套管构成的连续体机器人。我们展示了从术前图像到物理实施的整体患者特定设计工作流程，例如临床场景：非线性肾通路进入儿科肾脏。我们还测量系统在真实和人造组织中部署时的行为。系统集成以及在离体肝脏和体模患者模型中成功的台式实验证明了使用患者特定设计工作流程来规划、制造和部署个性化、灵活的连续体机器人的可行性。
Robot-assisted minimally invasive surgical systems enable procedures with reduced pain, recovery time, and scarring compared to traditional surgery. While these improvements benefit a large number of patients, safe access to diseased sites is not always possible for specialized patient groups, including pediatric patients, due to their anatomical differences. We propose a patient-specific design paradigm that leverages the surgeon’s expertise to design and fabricate robots based on preoperative medical images. The components of the patient-specific robot design process are a virtual reality design interface enabling the surgeon to design patient-specific tools, 3-D printing of these tools with a biodegradable polyester, and an actuation and control system for deployment. The designed robot is a concentric tube robot, a type of continuum robot constructed from precurved, elastic, nesting tubes. We demonstrate the overall patient-specific design workflow, from preoperative images to physical implementation, for an example clinical scenario: nonlinear renal access to a pediatric kidney. We also measure the system’s behavior as it is deployed through real and artificial tissue. System integration and successful benchtop experiments in ex vivo liver and in a phantom patient model demonstrate the feasibility of using a patient-specific design workflow to plan, fabricate, and deploy personalized, flexible continuum robots.
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DOI：
10.1109/robot.2010.5509311
发表时间：
2010-05-03
期刊：
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
Dupont PE;Lock J;Itkowitz B
通讯作者：
Itkowitz B
DOI：
10.1109/icra.2011.5980311
发表时间：
2011-05-09
期刊：
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
Anor T;Madsen JR;Dupont P
通讯作者：
Dupont P
影响因子：
5.2
作者：
Gilbert HB;Webster RJ 3rd
通讯作者：
Webster RJ 3rd
DOI：
10.1109/tro.2009.2035740
发表时间：
2010-04-01
期刊：
IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society
影响因子：
--
作者：
Dupont PE;Lock J;Itkowitz B;Butler E
通讯作者：
Butler E
DOI：
10.1177/0278364915585397
发表时间：
2015-11
期刊：
The International journal of robotics research
影响因子：
--
作者：
Hendrick RJ;Mitchell CR;Herrell SD;Webster RJ 3rd
通讯作者：
Webster RJ 3rd