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监督自主电外科手术用于软组织切除.

Jiawei Ge1, Hamed Saeidi2, Michael Kam1

  • 1Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA.

Proceedings. IEEE International Symposium on Bioinformatics and Bioengineering
|March 27, 2024
PubMed
概括
此摘要是机器生成的。

这项研究引入了一个机器人系统,用于精确的瘤切除,在软组织切除中达到毫米精度. 这种先进的技术通过自动化瘤边缘划分和切除来提高外科结果,为自主癌症手术铺平了道路.

关键词:
自主手术是一种自主性的手术.电外科手术 电外科手术图像指导手术是指导图像的手术.手术机器人手术机器人手术机器人瘤切除 切除瘤的切除

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 手术瘤学手术瘤学
  • 医疗器械 医疗器械

背景情况:

  • 手术切除是状细胞癌的标准,但手动方法在精确的瘤边缘划分方面面临挑战.
  • 手动手术期间可视化和手眼协调的局限性可能导致瘤边缘定义中的错误.
  • 手术自动化提供了通过减少外科医生的负担来提高一致性和结果的潜力.

研究的目的:

  • 开发和评估一种用于软组织切除的新型机器人监督自主电外科技术.
  • 为了在瘤切除边缘中达到毫米级的精度.
  • 为了证明自主双机器人合作工作流程的可行性,以去除瘤.

主要方法:

  • 一个4-DOF吸入系统与一个6-DOF电机器人集成.
  • 一种近红外光标记物被用来定义尸体样本上的伪瘤.
  • 一个双摄像头系统跟踪了自主伪瘤定位的标记.
  • 该系统对猪舌头样本进行了监督自主切除.

主要成果:

  • 综合机器人系统使用近红外标记追踪成功定位了伪瘤.
  • 在猪舌样本中实现了三种伪瘤的自主切除.
  • 平均表面和深度切除误差分别为1.19mm和1.83mm.

结论:

  • 开发的机器人电外科技术在软组织切除中表现出毫米精度.
  • 自主双机器人合作工作流是一种可行的方法,用于精确的瘤切除.
  • 这项工作代表了在临床实践中实现完全自主瘤切除的重大进展.