Sensing and mechatronic systems for minimally invasive surgery and therapy

用于微创手术和治疗的传感和机电系统

• 批准号: 312383-2010
• 负责人: Naish, Michael
• 金额: $ 1.89万
• 依托单位: University of Western Ontario
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2012
• 资助国家: 加拿大
• 起止时间: 2012-01-01 至 2013-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=509574
• 关键词: Sensing; mechatronic; systems; minimally; invasive

The proposed research program focuses on sensing and mechatronic systems that are suitable for surgical robots, medical devices and surgical training systems, with a particular focus on minimally invasive procedures. Minimally invasive procedures are performed though small incisions, typically about 10 mm across. While benefical to patients, the restricted access introduces many challenges for clinicians. One of the major problems is the inability to manipulate and feel internal structures in the same manner as would be possible in a comparable open procedure. The goal of this work is to improve the performance, feel, and safety of minimally invasive technologies with an eye towards simplicity and economy. This is achieved through the development of specialized mechatronic tools and sensing systems. The near term objectives of this research address three different areas: 1. development and characterization of a sterilizable tactile sensor that can accurately measure underlying tissue stiffness; 2. design and control of a dexterous minimally invasive manipulator, suitable for next-generation surgical and therapeutic approaches such as natural orifice and single port access procedures; and 3. development of techniques to track surgical or therapeutic instrument motion using endoscopic images and inertial sensors. A number of challenges are common to these objectives including the small size required for minimally invasive assess, the need to operate in warm and wet environments, preventing the collection or trapping of biomatter, and withstanding the extreme temperatures, humidity and pressures of sterilization procedures. The results of the proposed research are expected to be of particular significance to the Canadian health care and medical device industries. The improved sensing and manipulation capabilities afforded by this research will benefit practitioners of cardiac, thoracic, abdominal, neurological, orthopaedic and fetal surgical and therapeutic procedures. The developments outlined above may be applied to devices and systems for training, diagnosis, therapy and surgery.

拟议的研究计划侧重于适用于外科机器人、医疗器械和外科培训系统的传感和机电系统，特别侧重于微创手术。微创手术是通过小切口进行的，通常直径约为10毫米。虽然对患者有利，但受限的准入给临床医生带来了许多挑战。其中一个主要问题是，无法像在类似的开放手术中那样，以同样的方式操纵和感受内部结构。这项工作的目标是改善微创技术的性能、手感和安全性，着眼于简单和经济。这是通过开发专门的机电工具和传感系统来实现的。这项研究的近期目标涉及三个不同的领域：1.可精确测量潜在组织硬度的可消毒触觉传感器的开发和表征；2.灵巧微创机械手的设计和控制，适用于下一代手术和治疗方法，如自然开口和单端口进入程序；以及3.利用内窥镜图像和惯性传感器跟踪手术或治疗器械运动的技术的开发。这些目标面临着许多共同的挑战，包括微创评估所需的体积小、需要在温暖潮湿的环境中操作、防止收集或捕获生物物质以及承受极端的温度、湿度和灭菌程序的压力。预计拟议的研究结果将对加拿大医疗保健和医疗器械行业具有特别重要的意义。这项研究提供的改进的传感和操作能力将使心脏、胸部、腹部、神经、矫形和胎儿外科和治疗程序的从业者受益。上述发展可应用于训练、诊断、治疗和手术的设备和系统。