Dexterous miniature robot for advanced minimally invasive surgery
Dexterous miniature robot for advanced minimally invasive surgery
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DOI：
10.1007/s00464-010-1143-6
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发表时间：
2011-01-01
影响因子：
3.1
通讯作者：
Oleynikov, Dmitry
中科院分区：
文献类型：
--
作者：
Lehman, Amy C.;Wood, Nathan A.;Oleynikov, Dmitry
这项研究证明了使用微型机器人进行复杂的单切口微创手术的可行性。器械定位和缺乏三角测量使单切口腹腔镜手术复杂化，并且开放性外科手术具有高度侵入性。使用微创技术与微型机器人平台可能提供显着的临床效益。一个微型机器人平台已被设计为执行先进的腹腔镜手术的速度，灵活性和组织处理能力的标准腹腔镜仪器通过套管针工作。机器人平台包括灵巧的体内机器人和远程外科医生界面控制台。在这项研究中，一个标准的腹腔镜被安装到机器人上，以提供视觉和照明能力。此外，多个机器人可以通过单个切口插入，而不是传统的使用四个或五个不同的端口。这些额外的机器人可以提供诸如组织收缩和辅助可视化或照明的能力。该机器人的有效性已在猪模型的非生存胆囊切除术中得到证明。该手术通过一个大的经腹切口进行，由标准腹腔镜工具提供辅助牵开。这项研究证明了使用灵巧的机器人平台进行单切口，先进的腹腔镜手术的可行性。
This study demonstrates the feasibility of using a miniature robot to perform complex, single-incision, minimal access surgery. Instrument positioning and lack of triangulation complicate single-incision laparoscopic surgery, and open surgical procedures are highly invasive. Using minimally invasive techniques with miniature robotic platforms potentially offers significant clinical benefits. A miniature robot platform has been designed to perform advanced laparoscopic surgery with speed, dexterity, and tissue-handling capabilities comparable to standard laparoscopic instruments working through trocars. The robotic platform includes a dexterous in vivo robot and a remote surgeon interface console. For this study, a standard laparoscope was mounted to the robot to provide vision and lighting capabilities. In addition, multiple robots could be inserted through a single incision rather than the traditional use of four or five different ports. These additional robots could provide capabilities such as tissue retraction and supplementary visualization or lighting. The efficacy of this robot has been demonstrated in a nonsurvival cholecystectomy in a porcine model. The procedure was performed through a single large transabdominal incision, with supplementary retraction being provided by standard laparoscopic tools. This study demonstrates the feasibility of using a dexterous robot platform for performing single-incision, advanced laparoscopic surgery.