Design of Automatic Tool Replacement Mechanism for Laparoscopic Surgical Robot Arm for Solo Surgery

IF 2.1 3区 医学 Q2 SURGERY
Daehwan Ko, Yeonkyoung Kim, Hongseok Lim, Sungmin Kim
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引用次数: 0

Abstract

Background

Laparoscopic robotic surgery requires intraoperative tool replacement owing to the limited number of surgical tools that can be used simultaneously. Currently, this process is performed by a surgical assistant. However, automatic tool replacement is essential for surgeons when operating alone.

Methods

An initial design was constructed by analysing the FAST diagram of the surgical tool replacement process. It was then modified to arrive at the final design by considering the driving range of the robot arm.

Results

Based on the final design, both simulation and robot arm manufacturing were performed and validated. The results showed that the posture could be maintained during tool replacement, and the entire tool replacement process could be performed in 15 s.

Conclusions

The mechanism developed for the automatic replacement of surgical tools is expected to address the shortage of surgical staff and skill level of surgical assistants.

Abstract Image

独立手术腹腔镜手术机械臂自动换刀机构设计
背景腹腔镜机器人手术由于可同时使用的手术工具数量有限,需要术中工具更换。目前,这个过程是由外科助理完成的。然而,当外科医生单独手术时,自动工具更换是必不可少的。方法通过分析手术工具置换过程的FAST图,进行初步设计。然后通过考虑机械臂的驱动范围对其进行修改,得到最终的设计。结果在最终设计的基础上,进行了仿真和机械臂制造,并进行了验证。结果表明,在刀具更换过程中可以保持该姿态,整个刀具更换过程可在15 s内完成。结论所开发的手术工具自动更换机制有望解决手术人员不足和手术助理技术水平不足的问题。
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来源期刊
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.
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