SmartArm: Integration and validation of a versatile surgical robotic system for constrained workspaces
SmartArm: Integration and validation of a versatile surgical robotic system for constrained workspaces
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DOI：
10.1002/rcs.2053
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发表时间：
2020-01-02
影响因子：
2.5
通讯作者：
Mitsuishi, Mamoru
中科院分区：
文献类型：
--
作者：
Marinho, Murilo Marques;Harada, Kanako;Mitsuishi, Mamoru
背景：随着手术机器人微创手术的日益增多，对于深而窄的工作空间的多功能手术系统的需求也越来越大。方法：我们开发了一种适用于受限工作空间的多功能系统，称为 SmartArm。它有两个工业型机械臂，其末端附有灵活的工具，总共有九个主动自由度。该系统具有基于约束优化的控制算法，可以安全生成任务约束和直观的远程操作。结果：SmartArm 系统在主从实验中进行了评估，在该实验中，未经医学培训的用户操作机器人来缝合真实头部模型颅底处的硬脑膜。我们的结果表明，用户可以熟练地完成任务，其速度和准确性可与外科医生的手动缝合相媲美。结论 我们演示了 SmartArm 的集成和验证。
Background: With the increasing presence of surgical robots minimally invasive surgery, there is a growing necessity of a versatile surgical system for deep and narrow workspaces. Methods: We developed a versatile system for constrained workspaces called SmartArm. It has two industrial-type robotic arms with flexible tools attached to its distal tip, with a total of nine active degrees-of-freedom. The system has a control algorithm based on constrained optimization that allows the safe generation of task constraints and intuitive teleoperation. Results: The SmartArm system is evaluated in a master-slave experiment in which a medically untrained user operates the robot to suture the dura mater membrane at the skull base of a realistic head phantom. Our results show that the user could accomplish the task proficiently, with speed and accuracy comparable to manual suturing by surgeons. Conclusions We demonstrated the integration and validation of the SmartArm.