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Development of Microsurgery Robotic System and Digitalization of microsurgical tehnique

显微外科机器人系统的发展及显微外科技术的数字化

基本信息

批准号：
17390393
负责人：
MORITA Akio
金额：
$ 10.5万
依托单位：
The University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2005
资助国家：
日本
起止时间：
2005 至 2007
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-17390393/
关键词：
Brain Medico-Enginnering Robotics Simulation Microsurgery

项目摘要

In this research, we developed and advanced microsurgical Robotic System and produced scientific analysis method of Microsurgical Skill by digitalized microsurgical techniques.First we created new offset type robotic manipulator, which would not interfere with visual system such as microscope or endoscope. Then this system was equipped with intermediate working part, which will make our system sterilizable. After sterilization of the system and continuous 2hour manipulation, the tip of the manipulator was proved to be sterile. Also, we created new master manipulator system, which involves Ginbaru System, and with this master manipulator robot, surgeon could control the robot by moving fingers and wrist. This is similar to the condition of microsurgical procedures.After creating such advanced robotic system, we now proceeding with various experiments.Using such system, surgical procedures were analyzed in scientific manner.First robotic procedure was analyzed. Ideal reduction rate for r … More obotic surgery was believed to be around 20:1 or 40:1 in laparoscopic procedures, but in the field of microsurgery, this was 5:1 to 10:1. The difference is possibly due to difference of scale of routine surgery. Microsurgeons are not used to do massive movements in performing delicate procedures. Second, learning curve of micro procedures by robotic system by the beginners was assessed. Micro artificial vessel was sutured together using our robotic system by three engineer students, who never perform microsurgery. Their procedure time stabilized after several practice within one hour, and procedure was accurate. This proved robotic system allows rapid leering of microsurgical procedures.Next step was digitalization of microsurgical skills. The computer control signals were stored in 100Hz batches during robotic anastomosis of the micro vessels. By this method, we could display X, Y, Z movement distance in time log, velocity of the hand, accelerations, angle acceleration during each procedure. By this method we could analyze coordination of each hand, speed and acceleration during specific procedures and range of motion. Using this technique, we can analyze surgical technique in scientific way By storing master surgeons procedures and reproducing it in the force feedback master system, surgeons will be able to learn master surgeons hand speed and L-R coordination.Putting strain gauge on the forceps, we analyzed strength used during vessel anastomosis. Senior surgeon could control left hand very smoothly and strength in l was almost equal to R hand. But by the less experienced surgeons, strength on L was very high and continuously applied. This trend could be improved by practice. The strength applied to the tip of forceps was around 2N at most by experienced senior surgeons.This research proved microsurgical robotic sys tern improve surgical procedure in the future, and involving such medico- engineering method in analyzing microsurgical skill, will improved our future surgical education. Less

本研究利用数字化显微外科技术，开发和改进了显微外科机器人系统，提出了科学的显微外科手术技能分析方法，首次研制出不干扰显微镜、内窥镜等视觉系统的新型偏移式机器人操作手。然后这个系统配备了中间工作部分，这将使我们的系统具有灭菌能力。经过系统灭菌和连续2小时操作，机械手的尖端被证明是无菌的。此外，我们还创建了新的主操作手系统，其中包括Ginbaru系统，有了这个主操作手机器人，外科医生可以通过移动手指和手腕来控制机器人。这类似于显微外科手术的情况。在创建了这样先进的机器人系统后，我们现在进行各种实验。利用该系统，科学地分析了手术过程。首先分析了机器人程序。R…的理想缩减率腹腔镜手术多为20：1或40：1左右，而显微外科手术多为5：1~10：1，这可能与常规手术的规模不同有关。显微外科医生不习惯在执行精细程序时进行大规模动作。其次，评估初学者利用机器人系统学习微程序的曲线。微型人工血管是由三名从未做过显微手术的工程师用我们的机器人系统缝合在一起的。经过1小时内多次练习，操作时间稳定，操作准确。这证明机器人系统允许快速斜视显微外科手术。下一步是显微外科技能的数字化。在微血管的机器人吻合过程中，计算机控制信号以100赫兹的批次存储。通过这种方法，我们可以在时间记录中显示X、Y、Z移动距离、手的速度、每个过程中的加速度、角加速度。通过这种方法，我们可以分析在特定的程序和运动范围内每只手的协调性、速度和加速度。利用这项技术，我们可以通过存储外科大师的操作程序并将其复制到力反馈主系统中来科学地分析外科技术，外科医生可以学习外科大师的手速和L-R坐标。在钳子上插入应变片，分析血管吻合时的力量。资深外科医生可以很顺利地控制左手，L的力量几乎相当于右手。但在经验较少的外科医生看来，L的力量很大，而且还在不断地应用。这一趋势可以通过实践加以改善。有经验的资深外科医生对钳尖施加的力量最多在2N左右。本研究证明，显微外科机器人系统将改进未来的手术程序，并将这种医学工程学方法应用于显微外科技能分析，将改善我们未来的外科教育。较少