Enhancement of flexibility of minimally invasive instruments in single-port soft tissue surgery by integrating of manipulation systems and haptic human-machine interfaces.

通过集成操纵系统和触觉人机界面，增强单孔软组织手术中微创器械的灵活性。

• 批准号: 172196622
• 负责人: Privatdozent Dr. Andreas Kirschniak
• 金额: --
• 依托单位: Fachgebiet Mess- und Sensortechnik
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2011
• 资助国家: 德国
• 起止时间: 2010-12-31 至 2019-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/172196622?language=en
• 关键词: Enhancement; flexibility; minimally; invasive; instruments

Aim of project FLEXMIN is the scientific assessment of strategies and concepts of intra-corporal manipulators for minimally invasive surgery in the abdomen by test and characterization of prototypes. The novelty of the approach is the use of parallel kinematic structures characterized by their stiffness. The structures will be designed to achieve high dexterity in all necessary degrees of freedom. The mechanical setup of the manipulator will be integrated in a single rigid tube that will be introduced to the body by the anal orifice. A haptic interface for man-machine interaction will provide the surgeon with a sense of touch for the consistency of the tissue as well as the interaction forces. This will enable intuitive use of the system in the future.Aim of future work is the ongoing development and characterisation of the haptically transparent tele manipulation system for minimally invasive surgery beyond the promontory. To achieve this, a system comprised of a rigid bent manipulator with two arms, imaging, a working channel and a haptic control unit will be developed further in a way allowing transanal surgery in the whole abdomen. To do so, five degrees of freedom at the tip of each manipulator arm as well as a frequency- and dynamics-adopted system structure will be realised. Appropriate control structures will be identified and implemented. Frequency-dependent amplification factors for the haptic feedback as well as the integration of augmented reality will be implemented to enhance surgery outcome. The integration of the system in the surgery workflow will be promoted to enable pre-clinical evaluation. This includes a concept for sterilization and the use of HF technology. The system will be evaluated during experiments using a human anatomy phantom.

FLEXMIN项目的目的是通过原型的测试和表征，对用于腹部微创手术的体内机械手的策略和概念进行科学评估。该方法的新颖之处是使用并联运动结构的特点是他们的刚度。这些结构将被设计成在所有必要的自由度上实现高灵活性。操纵器的机械装置将集成在一个刚性管中，该刚性管将通过肛门口引入身体。用于人机交互的触觉接口将为外科医生提供用于组织的一致性以及交互力的触觉。这将使直观的使用该系统在future.Aim未来的工作是正在进行的开发和表征的触觉透明远程操作系统的微创手术超越海角。为了实现这一目标，将进一步开发一种系统，该系统由具有两个臂的刚性弯曲操纵器、成像、工作通道和触觉控制单元组成，以允许在整个腹部进行经肛门手术。为此，将实现每个操纵臂末端的五个自由度以及采用频率和动态的系统结构。将确定和实施适当的控制结构。将实施触觉反馈的频率依赖性放大因子以及增强现实的集成，以提高手术效果。将促进系统在手术工作流程中的整合，以实现临床前评价。这包括灭菌概念和高频技术的使用。将在实验期间使用人体解剖体模对系统进行评价。

项目成果

Objektive Evaluation von laparoskopischen Greifinstrumenten durch Bestimmung applizierter Kräfte bei der Gewebe-Instrumenten-Interaktion

通过确定组织-器械相互作用过程中施加的力来客观评估腹腔镜夹持器械

• DOI: 10.1055/s-0038-1669132
• 发表时间: 2018
• 期刊: Zeitschrift für Gastroenterologie
• 作者: Haas P;Kunert W;Johannink J;Kazak B;Kirschniak A
• 通讯作者: Kirschniak A

Miniaturized multiaxial force/torque sensor with a rollable hexapod structure

• DOI: 10.1515/teme-2017-0046
• 发表时间: 2017-09-01
• 期刊: TM-TECHNISCHES MESSEN
• 影响因子: 1
• 作者: Matich, Sebastian;Hessinger, Markus;Hatzfeld, Christian
• 通讯作者: Hatzfeld, Christian

The impact of guided instrument insertion during laparoscopy: a randomized study with novices in an optical box trainer

• DOI: 10.1007/s00464-019-06829-4
• 发表时间: 2020-02-01
• 期刊: SURGICAL ENDOSCOPY AND OTHER INTERVENTIONAL TECHNIQUES
• 影响因子: 3.1
• 作者: Kunert, Wolfgang;Land, Carolin;Falch, Claudius
• 通讯作者: Falch, Claudius

Pseudohaptic Feedback for Teleoperated Gripping Interactions

遥控抓取交互的伪触觉反馈

• DOI: 10.1007/978-3-319-93445-7_27
• 发表时间: 2018
• 作者: Wojcik S;Neupert C;Bilz J;Werthschützky R;Kupnik M;Hatzfeld C
• 通讯作者: Hatzfeld C

User-interface for teleoperation with mixed-signal haptic feedback

具有混合信号触觉反馈的远程操作用户界面

• DOI: 10.1109/iros.2017.8202251
• 发表时间: 2017
• 期刊: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• 作者: Thiem D;Neupert C;Bilz J;Matich S;Polzin J;Werthschutzky R;Kupnik M;Schlaak HF;Kirschniak A;Hessinger M;Hatzfeld C
• 通讯作者: Hatzfeld C