灵活内镜的通用范围执行系统
Sofia Basha1, Mohammad Khorasani1, Nihal Abdurahiman1
1Department of Surgery, Hamad Medical Corporation, Doha, Qatar.
Surgical endoscopy
|December 8, 2023
概括
与手动控制相比,新的机器人视镜调动系统改善了灵活的内镜导航,并减少了外科医生的工作量. 这种通用系统提高了各种程序的机动性,可能降低医院成本.
科学领域:
- 医疗机器人 医疗机器人
- 手术导航系统 手术导航系统
- 最少侵入性的手术
背景情况:
- 目前的作用域激活系统是特定于程序的,增加了医院成本,限制了可访问性.
- 一个通用的,模块化的视野触控系统可以支持各种腹腔镜和内镜手术.
- 降低部署和维护成本是更广泛的临床采用的主要目标.
研究的目的:
- 为了适应柔性内镜的模块化执行系统.
- 为了评估系统在导航中的性能,并在模拟过程中集中注意力.
- 为了比较机器人辅助的视野控制与传统的手动控制.
主要方法:
- 一个模块化执行系统,最初用于刚性腹腔镜,被修改为灵活的内镜.
- 用户研究涉及模拟的食道胃道内镜手术.
- 用预定义的轨道在机器人和手动模式下评估了内镜导航.
主要成果:
- 在所有性能指标中,机器人模式显著超过手动模式.
- 关键的改进包括减少穿越时间,在目标轨道之外的时间减少,以及更少的焦点转移.
- 机器人系统还降低了外科医生的感知工作量,根据NASA-TLX尺度进行测量.
结论:
- 开发的视野触控系统显著提高了灵活的内镜机动性.
- 这种模块化和通用系统为未来的机器人外科助理提供了基础.
- 这项技术有望提高微创手术的效率和可访问性.
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