Development of Compact Teleoperated Robotic Minimally Invasive Surgery

紧凑型遥控机器人微创手术的研制

• 批准号: 7315375
• 负责人: Peter Berkelman
• 金额: $ 13.46万
• 依托单位: UNIVERSITY OF HAWAII AT MANOA
• 依托单位国家: 美国
• 财政年份: 2007
• 资助国家: 美国
• 起止时间: 2007-07-05 至 2009-06-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/7315375
• 关键词: Adoption; Anatomic Models; Animal Model; Cadaver; Caliber; Certification; Clinical; Communication Methods; Complex; Computers; Data; Development; Devices; Effectiveness; Endoscopes; Environment; Goals; Grant; Hand; Healthcare; Height; Human; Invasive; Joystick; Length; Lifting; Link; Maintenance; Minimally Invasive Surgical Procedures; Motion; Operating Rooms; Operative Surgical Procedures; Optics; Patients; Performance; Positioning Attribute; Principal Investigator; Procedures; Research; Research Project Grants; Robot; Robotics; Simulate; Site; Staging; Standards of Weights and Measures; Sterilization for infection control; Surgeon; Surgical Instruments; Surgical incisions; System; Test Result; Testing; Time; Training; Trauma recovery; Upper arm; Validation; Work; base; commercialization; cost; design; grasp; improved; instrument; kinematics; novel; novel strategies; programs; prototype; research study; response; robot assistance; sensor; size; time use

DESCRIPTION (provided by applicant): Compared to traditional open surgery, minimally invasive surgical procedures reduce patient trauma and recovery time, yet the dexterity of the surgeon is reduced due to the small incisions, long instruments, and limited indirect visibility of the operative site inside the patient. Robotic surgical systems, teleoperated by surgeons from a master control console with joystick-type manipulation interfaces, have been commercially developed yet their adoption into standard practice has been limited due to size, complexity, cost, and time-consuming setup, maintenance, and sterilization procedures. The goal of our research is to improve the effectiveness of robot-assisted surgery by developing much smaller, simpler robotic manipulators for surgery. The specific aims of our work are 1) to develop a complete functional robotic surgical system prototype which is portable, sterilizeable, can be fixed to the rails of an operating table, and requires no initialization procedures before use, 2) to quantify and optimize the operation of the system in terms of accuracy, dynamic response, setup time, ease of use, and reliability using time, force, and position data from trajectory following experiments with both our prototype system and a commercial robotic surgery arm for comparison, and 3) to evaluate and improve the performance of the prototype system when used in realistic simulated surgical procedures and environments, by comparing the accuracy and task completion times of surgeons in training performing typical surgical tasks with and without the teleoperated system. Existing teleoperation interfaces will be used in the master console, endoscope and instrument manipulators prototypes have been developed, and new articulated surgical instruments will be developed during this project. The parameters of the prototype and a commercial surgical robot arm will be tested and compared.

描述（由申请人提供）：与传统开放手术相比，微创手术减少了患者创伤和恢复时间，但由于切口小、器械长以及患者体内手术部位的间接可见性有限，外科医生的灵活性降低。由外科医生从具有摇杆式操纵界面的主控制台远程操作的机器人手术系统已经在商业上开发，但是由于尺寸、复杂性、成本和耗时的设置、维护和灭菌程序，它们在标准实践中的采用受到限制。我们研究的目标是通过开发更小，更简单的手术机器人操作器来提高机器人辅助手术的有效性。我们工作的具体目标是：1）开发一个完整的功能机器人手术系统原型，该原型是便携式的、可消毒的、可以固定到手术台的轨道上，并且在使用前不需要初始化程序，2）在准确性、动态响应、设置时间、易用性和可靠性方面量化和优化系统的操作，以及来自轨迹跟踪实验的位置数据，所述轨迹跟踪实验利用我们的原型系统和商业机器人手术臂两者进行比较，以及3）为了评估和改进原型系统在用于现实模拟手术过程和环境中时的性能，通过比较外科医生在训练中使用和不使用遥控系统执行典型外科手术任务的准确性和任务完成时间。现有的远程操作接口将用于主控制台，内窥镜和器械操纵器原型已经开发，新的关节式手术器械将在本项目期间开发。将对样机和商业手术机器人手臂的参数进行测试和比较。