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首页> 外文会议>2014 5th IEEE RAS amp; EMBS International Conference on Biomedical Robotics and Biomechatronics >Surgeon#039;s third hand: An assistive robot endoscopic system with intuitive maneuverability for laparoscopic surgery
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Surgeon#039;s third hand: An assistive robot endoscopic system with intuitive maneuverability for laparoscopic surgery

机译：外科医生的第三只手：具有直观机动性的辅助机器人内窥镜系统，用于腹腔镜手术

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摘要

Laparoscopic surgery has to be operated with an assistant during surgery, which requires training and high cooperation work between the surgeon and assistants. The objective of this study is to develop a laparoscopic system providing intuitive maneuverability. We develop a Robotic Flexible Laparoscope System (RFLS) with compliance effect including adaptive impedance and velocity control to assist in laparoscopic surgery. The system is controlled by the surgeon's head movements, so that the surgeon can use his/her hands to manipulate the laparoscopic instruments while maneuvering the laparoscope intuitively, and thus replace the assistant and enhance the efficiency of the surgery. The laparoscope movements are controlled by adaptive impedance control approach, the compliance effect, the impedance with the integral and derivative control design, and the reaction torque observer. We also add zero-point-correcting algorithm and singular situation elimination algorithm. Furthermore, scalable ratio adjustment of head movement with respect to laparoscope movement is also included in our system. This system makes surgeon-in-charge maneuver the laparoscope intuitively without communication and coordination with assistant needed in conventional way. As a result, it is expected to reduce manpower and time during surgery. Experimental results demonstrate that the articulated laparoscope can always follow user's head motion in all necessary orientations.
机译：腹腔镜手术必须在手术过程中由助手进行，这需要外科医师和助手之间的培训和高度合作。这项研究的目的是开发一种具有直观可操作性的腹腔镜系统。我们开发了具有柔性效果的机器人柔性腹腔镜系统（RFLS），包括自适应阻抗和速度控制，以协助腹腔镜手术。该系统由外科医生的头部运动控制，因此外科医生可以在直观地操纵腹腔镜的同时用他/她的手来操纵腹腔镜器械，从而更换助手并提高手术效率。腹腔镜的运动通过自适应阻抗控制方法，顺应性效果，具有积分和微分控制设计的阻抗以及反作用扭矩观测器进行控制。我们还添加了零点校正算法和奇异情况消除算法。此外，我们的系统还包括可调节的头部运动相对于腹腔镜运动的比率。该系统使负责外科医生能够直观地操纵腹腔镜，而无需与常规方式下的助手进行通信和协调。结果，期望减少手术期间的人力和时间。实验结果表明，铰接式腹腔镜可以始终在所有必要的方向上跟随用户的头部运动。

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