Enhancement of flexibility of minimally invasive instruments in single-port soft tissue surgery by integrating of manipulation systems and haptic human-machine interfaces.

FLEXMIN项目的目的是通过对原型的测试和表征，对用于腹部微创手术的躯体内机械手的策略和概念进行科学评估。这种方法的新颖之处在于使用了以其刚度为特征的并联运动结构。这些结构的设计将在所有必要的自由度上实现高灵活性。机械手的机械装置将集成在单一的刚性管中，该管将通过肛门引入身体。用于人机交互的触觉界面将为外科医生提供组织一致性的触觉以及相互作用力。这将使该系统在未来的直观使用成为可能。未来工作的目标是持续开发和表征触觉透明的远程操作系统，用于海角以外的微创手术。为了实现这一目标，将进一步开发一个由两个手臂的刚性弯曲机械手、成像、工作通道和触觉控制单元组成的系统，以允许在整个腹部进行肛门手术。为此，将实现每个机械臂末端的五个自由度以及采用频率和动力学的系统结构。将确定和实施适当的控制结构。触觉反馈的频率相关放大系数以及增强现实的集成将被实施，以提高手术结果。将促进该系统在手术工作流程中的集成，以实现临床前评估。这包括灭菌的概念和HF技术的使用。该系统将在实验期间使用人体解剖模型进行评估。

Aim of project FLEXMIN is the scientific assessment of strategies and concepts of intra-corporal manipulators for minimally invasive surgery in the abdomen by test and characterization of prototypes. The novelty of the approach is the use of parallel kinematic structures characterized by their stiffness. The structures will be designed to achieve high dexterity in all necessary degrees of freedom. The mechanical setup of the manipulator will be integrated in a single rigid tube that will be introduced to the body by the anal orifice. A haptic interface for man-machine interaction will provide the surgeon with a sense of touch for the consistency of the tissue as well as the interaction forces. This will enable intuitive use of the system in the future.Aim of future work is the ongoing development and characterisation of the haptically transparent tele manipulation system for minimally invasive surgery beyond the promontory. To achieve this, a system comprised of a rigid bent manipulator with two arms, imaging, a working channel and a haptic control unit will be developed further in a way allowing transanal surgery in the whole abdomen. To do so, five degrees of freedom at the tip of each manipulator arm as well as a frequency- and dynamics-adopted system structure will be realised. Appropriate control structures will be identified and implemented. Frequency-dependent amplification factors for the haptic feedback as well as the integration of augmented reality will be implemented to enhance surgery outcome. The integration of the system in the surgery workflow will be promoted to enable pre-clinical evaluation. This includes a concept for sterilization and the use of HF technology. The system will be evaluated during experiments using a human anatomy phantom.