Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots
Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots
复制标题
拟人双臂手术机器人的惯用手选择和自动缝合
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
N. Simaan
中科院分区：
文献类型：
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作者：
J. Ding;N. Simaan
摘要 腹腔镜和单孔手术 (SPAS) 提出了与有限空间中的双臂手术和高度灵巧的手术从属设备的远程操作相关的独特灵巧性挑战。为了减轻远程操作负担，需要半自动化手术任务的新范例。本文提出了一种新的拟人双臂机器人最小约束缝合和惯用手自动选择方法。自动选择惯用手为外科医生远程操作复杂的机器人奴隶提供支持，因为灵活性和工作空间限制很难学习。该标准还用于支持自动双臂交会，以便在双臂缝合期间更快地交换缝线。本文提出的最小约束算法允许外科医生在共享控制远程操作框架内进行操作，外科医生控制针插入速度，机器人控制针方向，同时尊重一组最小的组织约束。该框架在用于 SPAS 的新型可插入机器人末端执行器平台上进行了评估。模拟研究通过研究每只手臂的灵活性限制来证明自动选择利手标准的有效性。其他模拟显示了所提出的自动交会和缝线交换算法。
SUMMARY Laparoscopic and Single Port Access Surgery (SPAS) present unique dexterity challenges related to dual-arm operations in confined spaces and tele-manipulation of highly dexterous surgical slaves. In an effort to reduce tele-manipulation burden, new paradigms for semi-automating surgical tasks are needed. This paper presents a new minimal constraint suturing and automated choice of handedness for anthropomorphic dual-arm robots. The automated choice of handedness supports surgeons during tele-manipulation of complex robotic slaves where dexterity and workspace constraints are difficult to learn. This criterion is also used to support automated dual-arm rendezvous for quicker suture exchange during dual-arm suturing. The minimal constraint algorithm presented in this paper allows surgeons to operate within a shared-control tele-manipulation framework whereby the surgeon controls the needle insertion speed and the robot controls the needle orientation while respecting a minimalistic set of tissue constraints. This framework is evaluated on a novel insertable robotic end-effectors platform for SPAS. A simulation study demonstrates the effectiveness of the automated choice of handedness criterion through a study of dexterity limitations of each arm. Additional simulations show the proposed algorithm for automated rendezvous and suture exchange.