Design and Evaluation of an Omnidirectional Wheel-Driven Endoscope-Assisted Robotic System Based on Motion Capture Control

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-05-14 DOI:10.1002/rcs.70070

Xinyi Yu, Yinkai Chen, Baiming Shi, Hao Zhuo, Libo Zhou, Yuye Ma, Yan Wei, Linlin Ou

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引用次数: 0

Abstract

Background

In endoscopic surgery, surgeons collaborate with assistants to manipulate the endoscope and instruments, making it impossible to perform the surgery independently.

Methods

We propose an endoscopic assistive robot based on motion capture control, enabling surgeons to control the endoscope with one hand. The system uses cameras at the master end to capture real-time motion information from the marker accessory, determining the surgeon's intent. It then controls the robot at the slave end to simulate surgical delivery actions, enabling precise endoscopic positioning through master-slave mapping. The omnidirectional wheel design addresses coupling issues of traditional friction wheels, significantly improving control accuracy.

Results

Testing demonstrated a maximum delivery error of 3.99% and 45.77% improvement in rotational precision. The system received positive feedback in both simulated and animal trials.

Conclusions

The system empowers surgeons to perform endoscopic procedures independently, establishing a foundation for advancing diagnosis and treatment of gastric diseases.

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基于运动捕捉控制的全向轮驱动内窥镜辅助机器人系统设计与评价

在内窥镜手术中，外科医生与助手合作操作内窥镜和器械，使其无法独立进行手术。方法提出一种基于动作捕捉控制的内窥镜辅助机器人，使外科医生能够单手控制内窥镜。该系统使用主端摄像头捕捉来自标记配件的实时运动信息，确定外科医生的意图。然后，它控制从端机器人模拟手术分娩动作，通过主从映射实现精确的内窥镜定位。全向轮设计解决了传统摩擦轮的耦合问题，显著提高了控制精度。结果实验结果表明，该系统最大传送误差为3.99%，旋转精度提高45.77%。该系统在模拟和动物试验中都得到了积极的反馈。结论该系统使外科医生能够独立完成内镜手术，为推进胃病的诊断和治疗奠定了基础。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.