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Development of Compact Teleoperated Robotic Minimally Invasive Surgery

紧凑型遥控机器人微创手术的研制

基本信息

批准号：
7463900
负责人：
Peter Berkelman
金额：
$ 18.65万
依托单位：
UNIVERSITY OF HAWAII AT MANOA
依托单位国家：
美国
项目类别：
财政年份：
2007
资助国家：
美国
起止时间：
2007-07-05 至 2010-06-30
项目状态：
已结题

来源：
https://reporter.nih.gov/project-details/7463900
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

项目摘要

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（申请人提供）：与传统的开放手术相比，微创手术减少了患者的创伤和恢复时间，但由于切口小、器械长、患者体内手术部位的间接可见性有限，降低了外科医生的灵活性。机器人手术系统由外科医生通过带有操纵杆型操作界面的主控制台进行远程操作，该系统已经进行了商业开发，但由于尺寸、复杂性、成本和耗时的设置、维护和灭菌程序，其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纵器来提高机器人辅助手术的效率。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、可以固定在手术台的导轨上，并且在使用前不需要初始化程序，2) 使用我们的原型系统和机器人的轨迹跟踪实验中的时间、力和位置数据，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。商业机器人手术臂进行比较，3）通过比较外科医生在使用和不使用远程操作系统执行典型手术任务的培训中的准确性和任务完成时间，评估和改进原型系统在真实模拟手术程序和环境中使用时的性能。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出来，并且在该项目期间将开发新的铰接式手术器械。原型机和商用手术机器人手臂的参数将进行测试和比较。

项目成果

期刊论文数量（3）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Robotic-surgical instrument wrist pose estimation.

机器人手术器械手腕姿势估计。

DOI：
10.1109/iembs.2010.5627598
发表时间：
2010
期刊：
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
影响因子：
0
作者：
Fabel,Stephan;Baek,Kyungim;Berkelman,Peter
通讯作者：
Berkelman,Peter

A Compact Modular Teleoperated Robotic System for Laparoscopic Surgery.

DOI：
10.1177/0278364909104276
发表时间：
2009-09
期刊：
The International journal of robotics research
影响因子：
0
作者：
Berkelman P;Ma J
通讯作者：
Ma J

Compact teleoperated laparoendoscopic single-site robotic surgical system: Kinematics, control, and operation.

DOI：
10.1002/rcs.1811
发表时间：
2017-12
期刊：
The international journal of medical robotics + computer assisted surgery : MRCAS
影响因子：
0
作者：
Isaac-Lowry OJ;Okamoto S;Pedram SA;Woo R;Berkelman P
通讯作者：
Berkelman P