A development of assistant surgical robot system based on surgical-operation-by-wire and hands-on-throttle-and-stick
| Autor: | Han-Kwang Yang, Sungwan Kim, Myungjoon Kim, Chiwon Lee, Yun Suhk Suh, Woo Jung Park, H. Jin Kim |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: |
Laparoscopic surgery
Engineering Time Factors medicine.medical_treatment 0206 medical engineering Biomedical Engineering Mechanical engineering Information Storage and Retrieval Minimally invasive surgery (MIS) 02 engineering and technology Workspace Throttle Task (project management) Biomaterials 03 medical and health sciences User-Computer Interface 0302 clinical medicine medicine Humans Radiology Nuclear Medicine and imaging Simulation Radiological and Ultrasound Technology da Vinci research kit (dVRK) business.industry Research Robotics End-effector of surgical robot General Medicine Equipment Design Hand 020601 biomedical engineering Assistant surgical robot system Novel master interface (NMI) Surgery Computer-Assisted 030220 oncology & carcinogenesis Wireless network interface controller Surgical instrument Hands-on-throttle-and-stick (HOTAS) Laparoscopy Artificial intelligence business Robotic arm Surgical-operation-by-wire (SOBW) |
| Zdroj: | BioMedical Engineering |
| ISSN: | 1475-925X |
| Popis: | Background Robot-assisted laparoscopic surgery offers several advantages compared with open surgery and conventional minimally invasive surgery. However, one issue that needs to be resolved is a collision between the robot arm and the assistant instrument. This is mostly caused by miscommunication between the surgeon and the assistant. To resolve this limitation, an assistant surgical robot system that can be simultaneously manipulated via a wireless controller is proposed to allow the surgeon to control the assistant instrument. Methods The system comprises two novel master interfaces (NMIs), a surgical instrument with a gripper actuated by a micromotor, and 6-axis robot arm. Two NMIs are attached to master tool manipulators of da Vinci research kit (dVRK) to control the proposed system simultaneously with patient side manipulators of dVRK. The developments of the surgical instrument and NMI are based on surgical-operation-by-wire concept and hands-on-throttle-and-stick concept from the earlier research, respectively. Tests for checking the accuracy, latency, and power consumption of the NMI are performed. The gripping force, reaction time, and durability are assessed to validate the surgical instrument. The workspace is calculated for estimating the clinical applicability. A simple peg task using the fundamentals of laparoscopic surgery board and an in vitro test are executed with three novice volunteers. Results The NMI was operated for 185 min and reflected the surgeon’s decision successfully with a mean latency of 132 ms. The gripping force of the surgical instrument was comparable to that of conventional systems and was consistent even after 1000 times of gripping motion. The reaction time was 0.4 s. The workspace was calculated to be 8397.4 cm3. Recruited volunteers were able to execute the simple peg task within the cut-off time and successfully performed the in vitro test without any collision. Conclusions Various experiments were conducted and it is verified that the proposed assistant surgical robot system enables collision-free and simultaneous operation of the dVRK’s robot arm and the proposed assistant robot arm. The workspace is appropriate for the performance of various kinds of surgeries. Therefore, the proposed system is expected to provide higher safety and effectiveness for the current surgical robot system. |
| Databáze: | OpenAIRE |
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