Steerable-Tip Endoscope for a Surgical Robot

用于手术机器人的可操纵尖端内窥镜

• 批准号: 6740377
• 负责人: CHRISTOPHER J. HASSER
• 金额: $ 9.33万
• 依托单位: INTUITIVE SURGICAL, INC.
• 依托单位国家: 美国
• 财政年份: 2004
• 资助国家: 美国
• 起止时间: 2004-02-15 至 2005-08-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/6740377
• 关键词: bioimaging /biomedical imaging; biomedical equipment development; endoscopy; image guided surgery /therapy; robotics; surgery material /equipment

DESCRIPTION (provided by applicant): Surgical telerobots improve surgeons' ability to see and manipulate objects in the surgical field, allowing them to accomplish the previously impossible, such as totally endoscopic coronary artery bypass surgery, and accelerating the adoption of difficult procedures such as totally endoscopic radical prostatectomies. Though the endoscopes used with surgical robots provide high-quality images, they have not evolved to take advantage of the shift to a robotic paradigm. Stereo endoscopes are so heavy that they require a special robot arm to hold them, and surgeons cannot freely exchange the endoscope from one port to another as they often do in conventional endoscopy. An endoscope that behaved like a robotic surgical tool, mountable on any robot instrument arm, with an articulated, steerable wrist, would fundamentally change robotic surgery, leading to major benefits for patients and surgeons. Surgeons could see around obstacles, operate over much wider areas inside the body without requiring a separate robot setup, and see the operating field from multiple perspectives. Anticipated benefits include reducing operative times, enabling new procedures, and improving functional outcomes for difficult surgeries like totally endoscopic multi-vessel coronary bypass and radical prostatectomy. The proposed technology would also lead to robot architecture changes that would dramatically improve ease-of-use and accelerate adoption of surgical robots. Phase I will include rapid prototyping of a steerable robotic endoscope that can be mounted on any instrument arm of the da Vinci surgical robot. Prototyping will enable clinical validation in a progressive series of eight dry lab and cadaver lab sessions, resulting in new choreographies for four representative cardiac and general surgery procedures and clear evidence of the benefits of a steerable robotic endoscope instrument.

描述（由申请人提供）： 手术端机器人提高了外科医生在手术领域中看到和操纵物体的能力，使他们能够完成以前不可能的事物，例如完全内窥镜冠状动脉搭桥手术，并加速采用诸如完全内窥镜的自由基前列腺镜等困难程序。尽管与手术机器人一起使用的内窥镜提供了高质量的图像，但它们并未演变为利用向机器人范式的转移。立体声内窥镜是如此沉重，以至于需要特殊的机器人臂来握住它们，并且外科医生不能像常规内窥镜中那样将内窥镜从一个端口自由地将内窥镜交换为另一个端口。 一种像机器人手术工具一样的内窥镜，可在任何机器人仪器臂上安装，带有明显的，可辨的手腕，将从根本上改变机器人手术，从而为患者和外科医生带来重大益处。外科医生可以在障碍物周围看到，在身体内部大部分区域进行操作，而无需单独的机器人设置，并从多个角度查看操作场。预期的好处包括减少手术时间，实现新程序以及改善诸如完全内窥镜多卷管冠状动脉旁路和根治性前列腺切除术等困难手术的功能结果。拟议的技术还将导致机器人体系结构的变化，从而极大地提高使用易于使用，并加速使用手术机器人。 第一阶段将包括可以安装在Da Vinci手术机器人的任何仪器臂上的可-机器人内窥镜的快速原型制作。原型制作将在八个干燥实验室和尸体实验室会议的渐进系列中实现临床验证，从而为四种代表性心脏和普通手术程序提供新的编舞，并明确证明了出现的可进入机器人内窥镜仪器的好处。