Development of universal gripping adapters: Sterile coupling of medical devices and robots using robotic fingers
Development of universal gripping adapters: Sterile coupling of medical devices and robots using robotic fingers
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通用夹持适配器的开发：使用机器人手指对医疗设备和机器人进行无菌耦合
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
T. Lüth
中科院分区：
文献类型：
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作者：
Konrad Entsfellner;R. Tauber;Daniel B. Roppenecker;J. Gumprecht;G. Strauß;T. Lüth
在本文中，提出了一种用于中耳手术的医疗宏微远程操作系统的新型通用夹持适配器。远程操纵系统应该使外科医生能够在中耳介入治疗中（例如镫骨切开术）精确地操纵组织。 Entsfellner 等人提出的系统。 [1] 包含一个操纵杆控制台、一个带有机械手和三个手指的机器人载体系统（宏观操纵器）、一个主动抓取适配器、一个外科微操纵器和一个显微外科器械。使用适配器，无需对经医疗批准的承载系统进行进一步修改。载体系统借助机械手指来支撑和引导微操纵器。两个机器人系统都可以使用单独的无菌箔进行消毒。因此，微操纵器可以在操作期间的任何时间连接到载体系统或从载体系统移除，并且如果需要，可以与另一个设备（例如内窥镜）交换。此外，通过稍微移动机器人手指来控制微操纵器是可能的，因此不需要进一步的电缆或连接来将控制信号从宏传输到微操纵器。外科医生可以通过手术室（手术室）桌上安装的带有触摸显示屏的操纵杆控制台来远程操作整个系统。
In this article a new universal gripping adapter for a medical macro-micro telemanipulation system for the middle ear surgery is presented. The telemanipulation system should enable the surgeon to precisely manipulate tissue in interventions at the middle ear like the stapedotomy. The system proposed by Entsfellner et al. [1] contains of a joystick console, a robotic carrier system (macro-manipulator) with a robotic hand and three fingers, an active gripping adapter, a surgical micro-manipulator, and a microsurgical instrument. Using the adapter, no further modifications at the medical approved carrier system are necessary. The carrier system holds and guides the micro-manipulator with help of its robotic fingers. Both robotic systems can be sterilized using separate sterile foils. So the micro-manipulator can be attached to or removed from the carrier system at any time during an operation, and, if desired, exchanged with another device like, e.g., an endoscope. Furthermore, the control of the micro-manipulator by slightly moving the robotic fingers is possible and so no further cables or connections are necessary to transmit the control signals from the macro to the micro-manipulator. The surgeon can control the whole system telemanipulated by an OR (operating room) table mounted joystick console with touch display.