Development of surgical robotic system for extending the indication of advanced laparoscopic surgery.

开发手术机器人系统以扩展高级腹腔镜手术的适应症。

基本信息

批准号：
07557085
负责人：
KITAJIMA Masaki
金额：
$ 8.13万
依托单位：
KEIO UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (A)
财政年份：
1995
资助国家：
日本
起止时间：
1995 至 1996
项目状态：
已结题

项目摘要

Laparoscopic surgery has been developed rapidly in recent years all over the world. Its indication has been enlarged with the rapid advancement and development of optical system, disporsable devices and other operative instruments. However, complicated procedure in laparoscopic surgery such as suturing and kot tying is still difficult for surgeons, and this fact prevents the further extension of its indication. The purpose of this project is to develop a master-slave surgical robotic system which is able to assist advanced laparoscopic surgery in order to the surgery easier and safer.To complete designing the robotic system, the comparison of motion analysis between open surgery and endoscopic surgery was carried out using motion capture system. From the results of the motion analysis, the optimal design of surgical robotic system was established. Dexterity of the effecter side of the robotic system was tested applying virtual reality and data gloves, and the detailed design was completed. From these results, a miniature prototype of a surgical master-slave robotic system which had 6 degree of freedom and was controlled by a joystick (6 degree of freedom) was established. At the same time, we have continued the research about the transmission of tactile sensation from a surgeon's hand to a robot's effecter using 4 sets of Phantom system. Our goal in future is to complete a surgical master-slave robotic system with perfect tactile sensasion and force feedback which is user-friendly and able to perform precise manuever in endoscopic surgery.

近年来，腹腔镜手术在世界范围内得到迅速发展。随着光学系统、一次性器械和其他手术器械的迅速进步和发展，其适应症不断扩大。然而，腹腔镜手术中缝合、结扎等复杂操作仍给外科医生带来了一定的难度，阻碍了其适应症的进一步扩展。本项目的目的是开发一种主从式手术机器人系统，能够辅助先进的腹腔镜手术，使手术更加轻松、安全。为了完成机器人系统的设计，进行开腹手术和内窥镜手术的运动分析比较是使用动作捕捉系统进行的。根据运动分析的结果，建立了手术机器人系统的优化设计。应用虚拟现实和数据手套测试了机器人系统执行器侧的灵活性，并完成了详细设计。根据这些结果，建立了一个具有 6 个自由度并由操纵杆（6 个自由度）控制的手术主从机器人系统的微型原型。同时，我们还继续研究使用4套Phantom系统将触觉从外科医生的手传递到机器人的执行器。我们未来的目标是完成一个具有完美触觉和力反馈的手术主从机器人系统，用户友好且能够在内窥镜手术中进行精确的操作。