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首页> 外文会议>International Conference on Intelligent Robots and Systems >KidsArm - An Image-Guided Pediatric Anastomosis Robot
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KidsArm - An Image-Guided Pediatric Anastomosis Robot

机译：小孩酱 - 一种图像引导的小儿吻合机器人

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Minimally invasive surgery (MIS) revolutionized surgery by drastically reducing patient recovery times by allowing surgeons to perform procedures through a series of small incisions. However, MIS has also increased the complexity of the tasks as tools did not have the same degrees of freedom and dexterity compared to open procedures. In particular, pediatric patients pose a unique challenge as they have smaller volumes and different tissue properties. Our group designed KidsArm, an image-guided pediatric surgical robot, to automate anastomosis. KidsArm is single port anastomosis tool that uses a pair of stereo cameras to generate a 3D point cloud to guide the tool tip and apply a series of sutures. The system was designed to be minimally invasive and constrained by standard pediatric trocar sizes while also being automated. An image processing system was created to extract and track surface features on the simulated tissue samples while providing feedback to the robot controller. The system was tested on two scenarios: side-to-side and end-to-end silicone samples. KidsArm successfully applied 3 sutures autonomously on the side-to-side scenario however the end-to-end scenario proved to be more difficult due to greater deformation and workspace restrictions. However, KidsArm demonstrates that it is feasible for a robot to autonomously perform anastomosis. More work will be required to accelerate the process and characterize the behavior with tissue samples.
机译：通过允许外科医生通过一系列小型切口进行手术，通过大幅减少患者恢复时间，彻底改变手术。然而，由于与开放程序相比，由于工具没有相同程度的自由和灵巧，MIS也增加了任务的复杂性。特别是，儿科患者造成独特的挑战，因为它们具有较小的体积和不同的组织性质。我们集团设计了童头，是一种图像引导的儿科手术机器人，以自动吻合。 KidsArm是单端口吻合工具，使用一对立体声相机来产生3D点云以引导工具尖端并涂抹一系列缝合线。该系统被设计为微创和受标准小儿套管型尺寸的限制，同时也是自动化的。创建图像处理系统以在模拟组织样本上提取和跟踪表面特征，同时向机器人控制器提供反馈。在两种情况下测试系统：侧面和端到端的硅胶样品。 KidsArm在旁边的方案上自主应用了3个缝合线，但是由于更大的变形和工作空间限制，端到端的情景被证明是更加困难的。然而，童头展示了机器人自主地进行吻合术是可行的。需要更多的工作来加速过程并表征组织样本的行为。

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