Design, implementation, and validation of a control framework for haptics-enabled multi-arm robot-assisted laparoscopic surgery
触觉多臂机器人辅助腹腔镜手术控制框架的设计、实现和验证
基本信息
- 批准号:570621-2021
- 负责人:
- 金额:$ 22.34万
- 依托单位:
- 依托单位国家:加拿大
- 项目类别:Alliance Grants
- 财政年份:2021
- 资助国家:加拿大
- 起止时间:2021-01-01 至 2022-12-31
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
Robot-assisted surgery, especially robot-assisted laparoscopy (RL), has gained momentum in Canada, the US, and Europe in the past five years. RL systems have simplified the workflow of laparoscopic minimally invasive surgeries, decreased time of surgery, enhanced surgeons' precision and dexterity, and made remote surgery possible. RL systems use multiple robots around the operating table while their tip instruments (graspers, scissors, needle holders, and laparoscope cameras) are inserted into the patient's abdomen through 8 to 12mm incisions. During RL surgery, a controller continuously relays motion commands from a remote-control console (surgeon's console) to the surgical robots. At the same time, the laparoscope camera sends video from inside the patient's abdomen to the surgeon's console. Since the surgeon merely has visuals from inside the abdomen and the console is away from the operating table, the surgeon is not necessarily aware of the robots' shapes outside the patient's body. Thus, there is a significant risk of collision between the robots that may result in irrecoverable injury to the patient or serious damage to the expensive robots. To alleviate the risk of collision between surgical robots, the investigators of this research and Kinova (industrial partner) have joined forces to develop and test a novel, fast, and autonomous collision avoidance technology for RL surgeries. The investigators have formed a scientific network with biomedical, robotics, surgery, and software expertise to eliminate this safety concern in the partner's surgical robots. As an additional safety feature, they are developing a robust haptic feedback technology to relay vibrational alerts about imminent collisions to the surgeon's hands during the surgery. Kinova is a leading manufacturer of surgical robots in North America and will be the first in the world to provide off-the-shelf surgical robots with autonomous collision avoidance features. With the partner's planned knowledge translation activities, this technology will result in safer surgical robots that need short integration time for RL surgeries and ultimately facilitate broader democratization of robotic surgery for Canadian people.
机器人辅助手术,尤其是机器人辅助腹腔镜手术(RL),在过去五年中在加拿大、美国和欧洲获得了发展势头。RL系统简化了腹腔镜微创手术的工作流程,缩短了手术时间,提高了外科医生的精度和灵活性,并使远程手术成为可能。RL系统在手术台上使用多个机器人,同时它们的尖端器械(钳子、剪刀、针架和腹腔镜相机)通过8到12毫米的切口插入患者的腹部。在RL手术中,控制器不断地将来自遥控控制台(外科医生的控制台)的运动命令传递给手术机器人。同时,腹腔镜摄像机将患者腹部内部的视频发送到外科医生的控制台。由于外科医生只能从腹部内部获得视觉效果,而且控制台远离手术台,因此外科医生不一定知道病人身体外机器人的形状。因此,机器人之间发生碰撞的风险很大,可能会对患者造成无法恢复的伤害,或者对昂贵的机器人造成严重损害。为了减轻手术机器人之间碰撞的风险,这项研究的研究人员和Kinova(工业合作伙伴)已经联手开发和测试了一种用于RL手术的新型、快速和自主的碰撞避免技术。研究人员已经形成了一个具有生物医学、机器人、外科和软件专业知识的科学网络,以消除合作伙伴的手术机器人中的这种安全问题。作为一项额外的安全功能,他们正在开发一种强大的触觉反馈技术,在手术期间将即将发生碰撞的振动警报传递给外科医生的手。Kinova是北美领先的手术机器人制造商,并将成为世界上第一家提供具有自动防撞功能的现成手术机器人的公司。随着合作伙伴计划的知识翻译活动,该技术将产生更安全的手术机器人,需要更短的RL手术整合时间,最终促进加拿大人机器人手术的更广泛民主化。
项目成果
期刊论文数量(0)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
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Barralet, Jake其他文献
Material-Induced Venosome-Supported Bone Tubes
- DOI:
10.1002/advs.201900844 - 发表时间:
2019-07-01 - 期刊:
- 影响因子:15.1
- 作者:
Charbonnier, Baptiste;Baradaran, Asian;Barralet, Jake - 通讯作者:
Barralet, Jake
Angiogenesis in Calcium Phosphate Scaffolds by Inorganic Copper Ion Release
- DOI:
10.1089/ten.tea.2007.0370 - 发表时间:
2009-07-01 - 期刊:
- 影响因子:4.1
- 作者:
Barralet, Jake;Gbureck, Uwe;Doillon, Charles J. - 通讯作者:
Doillon, Charles J.
The effect of autoclaving on the physical and biological properties of dicalcium phosphate dihydrate bioceramics: Brushite vs. monetite
- DOI:
10.1016/j.actbio.2012.04.025 - 发表时间:
2012-08-01 - 期刊:
- 影响因子:9.7
- 作者:
Tamimi, Faleh;Le Nihouannen, Damien;Barralet, Jake - 通讯作者:
Barralet, Jake
Treatment of Critical-Sized Calvarial Defects in Rats with Preimplanted Transplants
- DOI:
10.1002/adhm.201900722 - 发表时间:
2019-08-15 - 期刊:
- 影响因子:10
- 作者:
Charbonnier, Baptiste;Abdulla, Mohamed;Barralet, Jake - 通讯作者:
Barralet, Jake
Controlling Bone Graft Substitute Microstructure to Improve Bone Augmentation
- DOI:
10.1002/adhm.201600052 - 发表时间:
2016-07-06 - 期刊:
- 影响因子:10
- 作者:
Sheikh, Zeeshan;Drager, Justin;Barralet, Jake - 通讯作者:
Barralet, Jake
Barralet, Jake的其他文献
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{{ truncateString('Barralet, Jake', 18)}}的其他基金
Self Sustaining Scaffolds
自持式脚手架
- 批准号:
RGPIN-2019-05270 - 财政年份:2022
- 资助金额:
$ 22.34万 - 项目类别:
Discovery Grants Program - Individual
Self Sustaining Scaffolds
自持式脚手架
- 批准号:
RGPIN-2019-05270 - 财政年份:2021
- 资助金额:
$ 22.34万 - 项目类别:
Discovery Grants Program - Individual
Innovation at the Cutting Edge
前沿创新
- 批准号:
482735-2016 - 财政年份:2021
- 资助金额:
$ 22.34万 - 项目类别:
Collaborative Research and Training Experience
Innovation at the Cutting Edge
前沿创新
- 批准号:
482735-2016 - 财政年份:2020
- 资助金额:
$ 22.34万 - 项目类别:
Collaborative Research and Training Experience
Self Sustaining Scaffolds
自持式脚手架
- 批准号:
RGPIN-2019-05270 - 财政年份:2020
- 资助金额:
$ 22.34万 - 项目类别:
Discovery Grants Program - Individual
Self Sustaining Scaffolds
自持式脚手架
- 批准号:
RGPIN-2019-05270 - 财政年份:2019
- 资助金额:
$ 22.34万 - 项目类别:
Discovery Grants Program - Individual
Innovation at the Cutting Edge
前沿创新
- 批准号:
482735-2016 - 财政年份:2019
- 资助金额:
$ 22.34万 - 项目类别:
Collaborative Research and Training Experience
Innovation at the Cutting Edge
前沿创新
- 批准号:
482735-2016 - 财政年份:2018
- 资助金额:
$ 22.34万 - 项目类别:
Collaborative Research and Training Experience
Models of vessel calcification
血管钙化模型
- 批准号:
526730-2018 - 财政年份:2018
- 资助金额:
$ 22.34万 - 项目类别:
Engage Grants Program
Self Sustaining Scaffolds
自持式脚手架
- 批准号:
RGPIN-2017-06829 - 财政年份:2017
- 资助金额:
$ 22.34万 - 项目类别:
Discovery Grants Program - Individual
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