A Single-Port Robotic System for Transanal Microsurgery-Design and Validation
A Single-Port Robotic System for Transanal Microsurgery-Design and Validation
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DOI：
10.1109/lra.2017.2668461
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发表时间：
2017-07-01
影响因子：
5.2
通讯作者：
Yang, Guang-Zhong
中科院分区：
文献类型：
--
作者：
Shang, Jianzhong;Leibrandt, Konrad;Yang, Guang-Zhong
本文介绍了一种用于经肛门内窥镜显微手术(TEMS)的单端口机器人平台。通过经肛门入路插入两个机器人控制的关节手术器械，以执行粘膜下或全层剥离。该系统旨在取代传统的TEMS方法，即使用手动腹腔镜术。新系统是基于主从式机器人控制的遥操作。从机器人包括安装在手术台上的支撑臂、支撑手术端口的支撑臂和驱动手术器械的机器人平台。主控制台包括一对触觉设备，以及显示通过手术端口插入的立体内窥镜的实时视频流的三维显示器。手术器械由能量输送装置、抓取器和针头驱动器组成，允许执行完整的TEMS程序。台式试验、体外动物组织评估和体内研究的结果证明了所提出的系统的临床优势。
This letter introduces a single-port robotic platform for transanal endoscopic microsurgery (TEMS). Two robotically controlled articulated surgical instruments are inserted via a transanal approach to perform submucosal or full-thickness dissection. This system is intended to replace the conventional TEMS approach that uses manual laparoscopic instruments. The new system is based on master-slave robotically controlled tele-manipulation. The slave robot comprises a support arm that is mounted on the operating table, supporting a surgical port and a robotic platform that drives the surgical instruments. The master console includes a pair of haptic devices, as well as a three-dimensional display showing the live video stream of a stereo endoscope inserted through the surgical port. The surgical instrumentation consists of energy delivery devices, graspers, and needle drivers allowing a full TEMS procedure to be performed. Results from benchtop tests, ex vivo animal tissue evaluation, and in vivo studies demonstrate the clinical advantage of the proposed system.