Dexterous, compact telesurgical robot: thoat & airways

灵巧、紧凑的远程手术机器人：thoat

• 批准号: 6857432
• 负责人: RUSSELL H TAYLOR
• 金额: $ 23.94万
• 依托单位: JOHNS HOPKINS UNIVERSITY
• 依托单位国家: 美国
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-03-01 至 2007-02-28
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/6857432
• 关键词: bioengineering /biomedical engineering; biomedical equipment development; clinical research; evaluation /testing; human subject; image guided surgery /therapy; larynx; microsurgery; miniature biomedical equipment; phantom model; pharynxs; robotics; surgery material /equipment; tissue engineering

DESCRIPTION (provided by applicant): Telesurgical "master/slave" robots have demonstrated significant potential to enhance surgeons' ability to perform delicate and dexterous minimally-invasive surgery (MIS) in cardiac, abdominal, prostate, and other surgical specialties. Despite these developments, current robotic instruments are still too large and/or have insufficient dexterity for surgical domains such as throat and airway surgery, which require highly dexterous, two handed manipulation in very confined spaces. The long-term goal of the proposed exploratory bioengineering research project is to develop a new class of modular, scalable surgical robots and to evaluate the potential of such systems to expand the scope of minimally-invasive surgical approaches to procedures requiring high precision and dexterity in such spaces. Our Specific Aims are as follows: 1) Develop a very compact, precise, and high-dexterity surgical "slave" robot suitable for minimally invasive surgery of the throat and airways; 2) Integrate this robot with an existing master controller to create a prototype telesurgical system; 3) Evaluate the performance of this system for suturing and tissue manipulation tasks on phantoms representing the constraints and environment of laryngeal surgery. Our proposed surgical robot employs very compact, novel 10 degree-of-freedom (DOF) arms, each consisting of a small 4 DOF "tool manipulation unit" mounted outside the patient, manipulating a 4 mm diameter "distal dexterity unit" (DDU) extending into the patient's body. Each DDU has a 2 DOF snake-like tip, at the end of which is a tiny 3 DOF parallel-link manipulation stage for added dexterity, manipulating a small gripper or other tool. The DDU uses flexible superelastic materials and a novel push-pull actuation scheme to provide precise manipulation with sufficient strength for tasks like suturing. Since this design does not require pivot joints, cables, or similar elements, it promises to be manufacturable and scalable to even smaller sizes. We will construct a 2-armed "slave" robot using this design. We will integrate this robot with one of several available master controllers and software in our laboratory. We will evaluate the combined system in comparison to hand-held instruments with suitable phantoms on groups of novice and experienced surgeons.

描述(由申请人提供)： 远程外科“主/从”机器人在提高外科医生在心脏、腹部、前列腺和其他外科专科进行精细、灵巧的微创手术的能力方面显示出巨大的潜力。尽管有了这些发展，但目前的机器人器械仍然太大和/或不足以用于喉咙和呼吸道手术等外科领域，这些领域需要在非常有限的空间内进行高度灵活的双手操作。 拟议的探索性生物工程研究项目的长期目标是开发一种新型的模块化、可扩展的手术机器人，并评估此类系统的潜力，以扩大微创手术方法的范围，使其适用于在此类空间需要高精度和灵活性的手术。 我们的具体目标如下：1)开发一种非常紧凑、精确和高灵活性的外科“从属”机器人，适用于喉部和呼吸道的微创手术；2)将该机器人与现有的主控制器集成，创建一个原型远程手术系统；3)评估该系统在代表喉部手术约束和环境的模体上的缝合和组织操纵任务的性能。 我们建议的手术机器人采用非常紧凑、新颖的10自由度(DOF)手臂，每个手臂由一个安装在患者外部的小型4自由度“工具操作单元”组成，操作一个直径4 mm的“远端灵巧单元”(DDU)延伸到患者体内。每个DDU都有一个2自由度的蛇形尖端，末端是一个微小的3自由度平行连杆操作台，以增加灵活性，操作一个小夹爪或其他工具。DDU使用灵活的超弹性材料和新颖的推拉驱动方案，为缝合等任务提供具有足够强度的精确操作。由于这种设计不需要枢轴接头、电缆或类似的元件，因此它有望制造并可扩展到更小的尺寸。我们将使用这个设计来构建一个双臂的“奴隶”机器人。我们将把这个机器人与我们实验室中几个可用的主控制器和软件之一集成在一起。我们将通过在新手和有经验的外科医生群体中使用合适的幻影来评估组合系统与手持式仪器的比较。