免提相机助手：机器人辅助手术中的自主腹腔镜操作

IF 2.1 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-08-25 DOI:10.1002/rcs.70103

Jinze Shi, Chunlin Zhou, Luming Wang, Wenhan Lin, Song Zhou, Zhehao He, Honghai Ma, Jian Hu, Dongqin Feng

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引用次数: 0

摘要

腹腔镜手术中的机器人摄像机支架提高了手术效率，减轻了医学专家的负担。方法提出了一种将深度学习方法与机器人运动学相结合的多任务兼容控制框架。该框架解决了外科手术中的关键挑战，例如保持远程运动中心（RCM）约束和实现自主视野（FOV）调整。结果实验结果表明，该框架跟踪的轨迹平均响应时间小于2 s，最大RCM约束误差小于5 mm，平均跟踪误差小于20像素，平均深度误差小于2.5 mm。此外，其可扩展性使其能够成功集成虚拟夹具，以防止组织碰撞。结论：该框架实现了自主、快速、安全的腹腔镜操作，提高了手术的连续性和效率，同时节约了专科医疗资源。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Hands-Free Camera Assistant: Autonomous Laparoscope Manipulation in Robot-Assisted Surgery

Background

Robotic camera holders in laparoscopic surgery improve surgical efficiency and reduce the burden on medical specialists.

Methods

We propose a multi-task compliant control framework that integrates deep learning methods with robot kinematics. This framework addresses key challenges in surgical procedures, such as maintaining the remote center of motion (RCM) constraint and achieving autonomous field of view (FOV) adjustment.

Results

Experimental results demonstrate that our framework follows various trajectories with mean response time of less than 2 s, maximum RCM constraint error of less than 5 mm, mean tracking error of less than 20 pixels, and mean depth error of less than 2.5 mm. Additionally, its scalability enabled successful integration of a virtual fixture to prevent tissue collisions.

Conclusion

Our framework enables autonomous, rapid, and safe laparoscope manipulation, enhancing the continuity and efficiency of surgical procedures while conserving specialist healthcare resources.

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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.