TELEPRESENCE FOR INTRA-ABDOMINAL AND ENDOSCOPIC SURGERY

腹腔内和内窥镜手术的远程呈现

基本信息

批准号：
2182856
负责人：
PHILIP S GREEN
金额：
$ 21.69万
依托单位：
SRI INTERNATIONAL
依托单位国家：
美国
项目类别：
财政年份：
1991
资助国家：
美国
起止时间：
1991-09-30 至 1995-08-31
项目状态：
已结题

来源：
https://reporter.nih.gov/project-details/2182856
关键词：
endoscopy gastrointestinal surgery microsurgery optics telemedicine

项目摘要

DESCRIPTION: (Adapted from investigator's abstract) The goal of this research is to develop the multidisciplinary science and technology of telepresence and demonstrate its applicability to closed intra-abdominal surgery, endoscopic surgery, and microsurgery. In these fields, the range of functions that can be performed with currently available instruments is restricted, owing to limitations in both visualization and manipulation. Even with video displays, the surgeon's view is detached from his physical relationship to his instruments and to the patient. The selection of instruments is limited and the hand motions required to maneuver them are frequently quite unlike the desired instrument-tip motion. Moreover, it is often impossible to sense the force of contact of the instrument tip with the tissue, which is important, for example, in controlling the tearing force in blunt dissection or the depth of a cut. Compared to the ease and dexterity with which we perform complex tasks with our hands and tools every day, the surgeon's task can be very difficult. Telepresence promises to bring to these surgical specialties the opportunity to expand the range of procedures, to improve the speed and surety of existing procedures, and to reduce the size of the surgical team. Teleoperation is the human control of remote operations, using operator-controlled manipulators, usually under direct or televised observation. Telepresence greatly expands the potential for teleoperation by providing the operator with the complex sensory feedback and motor control he would have were he actually at the worksite, carrying out the operation with his own hands. Telepresence has the potential to make it possible to project one's full motor and sensory capabilities into remote and microscopic environments to perform operations that demand fine dexterity and hand-eye coordination. To develop this capability, it is necessary to better understand how our senses interact with our motor functions and to apply this knowledge to the development of instrumentation specifically configured for convenient use in each surgical environment. SRI has already begun work on the development of a variety of telepresence system components and on understanding the dynamics of the interaction of motor, sensory, and system factors. Initial efforts under the proposed research will concentrate on effectively integrating stereoscopic vision and remote manipulation. The investigators will begin this work using their existing telepresence research system. They will devise psycho physical tests for the evaluation of a sense of presence and objective tests to measure overall system and operator performance. They will develop a stereo laparoscopic video camera and fabricate a pair of dexterous hand controllers and servo-controlled surgical actuators with seven degrees of freedom and force feedback to the operator. These will be integrated into a telepresence operator console designed for surgical use and an intra-abdominal surgery simulator; various surgical procedures will be simulated. To determine the potential for telepresence in endoscopy, the investigators will develop an endoscope-tip experimental module with stereographic video and a pair of actuators that pass through two forceps channels. This instrumentation will be coupled to the SRI operator console and tests will be made of simulated endoscopic procedures.

描述：（根据调查员的摘要进行了改编）研究是为了开发多学科科学和技术远程敏感并证明其适用于闭合腹腔内的手术，内窥镜手术和显微外科手术。在这些领域，范围可以使用当前可用仪器执行的功能是由于可视化和操纵的局限性，受到限制。即使显示了视频，外科医生的观点也与他的身体脱节与他的乐器和患者的关系。选择乐器是有限的，操纵它们所需的手动动作是通常与所需的仪表尖运动完全不同。而且，是通常不可能感觉到仪器尖端的接触力纸巾，例如控制撕裂很重要钝性解剖或切割深度。与轻松和轻松我们用双手和工具执行复杂任务的灵巧性每天，外科医生的任务可能非常困难。触觉承诺为这些外科专业带来扩大范围的机会程序，提高现有程序的速度和保证，以及减少手术团队的大小。远程操作是对远程操作的人类控制操作员控制的操作器，通常在直接或电视下观察。远程敏感大大扩大了远程运行的潜力通过为操作员提供复杂的感觉反馈和电动机控制他实际上是在工作地点，执行用自己的手操作。远程敏感有可能实现可以将一个人的全部电动机和感官功能投射到遥控器中和微观环境，以执行要求良好的操作灵巧和手眼协调。为了发展此功能，是更好地了解我们的感官如何与电动机互动的必要条件功能并将这些知识应用于仪器的发展专门为在每个手术环境中方便使用而配置。 SRI已经开始从事各种触觉的发展系统组件以及了解相互作用的动态电机，感官和系统因素。根据拟议的初步努力研究将集中于有效整合立体视觉和远程操纵。调查人员将使用他们现有的远程研究系统。他们将设计心理评估存在感和客观的物理测试测试总体系统和操作员性能的测试。他们会的开发立体腹腔镜摄像机并制造一对灵巧的手控制器和伺服控制的手术执行器七个自由度和对操作员的力量反馈。这些将是集成到旨在手术使用的电视操作员控制台和腹腔内手术模拟器；各种外科手术将被模拟。为了确定内窥镜检查中触觉的潜力，研究人员将使用立体视频开发内窥镜尖端实验模块以及一对通过两个镊子通道的执行器。这仪器将耦合到SRI操作员控制台，测试将由模拟的内窥镜手术制成。