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

• 批准号: 570621-2021
• 负责人: Barralet, JakeJE
• 金额: $ 17.56万
• 依托单位: McGill University
• 依托单位国家: 加拿大
• 项目类别: Alliance Grants
• 财政年份: 2022
• 资助国家: 加拿大
• 起止时间: 2022-01-01 至 2023-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=765808
• 关键词: Design; implementation; validation; control; framework

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.

在过去的五年中，机器人辅助手术，尤其是机器人辅助腹腔镜（RL）在加拿大，美国和欧洲的动力。 RL系统简化了腹腔镜微创手术的工作流程，手术时间减少，外科医生的精度和敏捷性增强，并使远程手术成为可能。 RL系统在手术台周围使用多个机器人，而他们的尖端仪器（抓地力，剪刀，针架和腹腔镜摄像头）通过8至12mm的切口插入患者的腹部。在RL手术期间，控制器将运动命令不断地转移到遥控器控制台（外科医生的控制台）到手术机器人。同时，腹腔镜相机将视频从患者的腹部内部发送到外科医生的控制台。由于外科医生仅具有腹部内部的视觉效果，并且控制台远离手术桌，因此外科医生不一定会意识到机器人在患者体内的形状。因此，机器人之间存在碰撞的巨大风险，可能导致患者无法恢复的伤害或对昂贵的机器人的严重损害。为了减轻手术机器人之间发生碰撞的风险，这项研究的研究人员和Kinova（工业伙伴）联合起来开发和测试一种用于RL手术的新颖，快速，快速和自主碰撞的避免技术。研究人员建立了一个具有生物医学，机器人，手术和软件专业知识的科学网络，以消除伴侣的手术机器人的安全关注。作为另一个安全功能，他们正在开发一种强大的触觉反馈技术，以将有关在手术期间的振动振动警报传递给外科医生的手。 Kinova是北美手术机器人的领先制造商，将是世界上第一个提供具有自主碰撞避免功能的现成手术机器人的人。通过合作伙伴计划的知识翻译活动，这项技术将导致更安全的手术机器人，需要简短的整合时间来进行RL手术，并最终促进加拿大人的机器人手术更广泛的民主化。