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首页> 外文学位 >In vivo abdominal surgical robotics: Tissue mechanics modeling, robotic design, experimentation, and analysis.
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In vivo abdominal surgical robotics: Tissue mechanics modeling, robotic design, experimentation, and analysis.

机译：体内腹部外科手术机器人：组织力学建模，机器人设计，实验和分析。

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摘要

Miniature robotic systems were developed to be placed in vivo to assist surgeons during laparoscopic surgery. These robots were developed to improve surgical views from within the abdominal cavity and to provide dexterous manipulators that are not constrained by the entry incision.; Several fixed-base camera robots were developed. Some systems had a fixed orientation, while others provided adjustable camera angles. All systems provided video feedback. The first robot provided wireless video feedback, while a second provided pan and tilt motion for overall viewing of the cavity. A third generation design incorporated a mechanism designed to adjust the camera focus.; Mobile robotic systems were also developed. Liver mechanics were studied to develop a model to predict wheel performance. Combined with laboratory bench-top testing, this model helped predict a suitable wheel design for traversing the abdominal organs without tissue damage. The mobile robots consisted of two wheels and a tail to permit forward, reverse and turning motion. Several of these designs incorporated on-board adjustable-focus camera systems. Other designs included a biopsy grasper, while still others incorporated a completely wireless design.; Further animal in vivo testing of these systems showed the usefulness of such devices. A porcine gallbladder was removed using only visual feedback from a mobile camera robot, while a canine prostate and kidney were removed with the aid of a fixed base camera robot. Additional tests showed the ability to biopsy porcine hepatic tissue and navigate the abdominal environment with wireless control and feedback. These experiments help show that in vivo surgical robots can and will be invaluable surgical assistants in the near future.
机译：开发了微型机器人系统，可将其放置在体内，以在腹腔镜手术期间协助外科医生。开发这些机器人是为了改善腹腔内的手术视野，并提供不受进入切口约束的灵巧操纵器。开发了几种固定式摄像头机器人。一些系统具有固定的方向，而其他系统提供可调整的摄像机角度。所有系统都提供视频反馈。第一个机器人提供了无线视频反馈，而第二个机器人则提供了平移和俯仰运动，以全面观察空腔。第三代设计结合了一种旨在调整相机焦点的机制。还开发了移动机器人系统。对肝脏力学进行了研究，以开发一种预测车轮性能的模型。结合实验室台式测试，该模型有助于预测合适的滚轮设计，以横越腹部器官而不会损伤组织。移动机器人由两个轮子和一个尾巴组成，可以向前，向后和转动。这些设计中有几种采用了车载可调焦相机系统。其他设计包括活检抓取器，而其他设计则包括完全无线设计。这些系统的进一步动物体内测试显示了此类装置的实用性。仅使用来自移动摄像头机器人的视觉反馈来去除猪胆囊，而借助固定基座的摄像头机器人来去除犬的前列腺和肾脏。其他测试表明，可以通过无线控制和反馈对猪肝组织进行活检并在腹部环境中导航。这些实验帮助表明，在不久的将来，体内外科手术机器人可以而且将成为宝贵的外科手术助手。

著录项

  • 作者

    Rentschler, Mark E.;

  • 作者单位

    The University of Nebraska - Lincoln.;

  • 授予单位 The University of Nebraska - Lincoln.;
  • 学科 Engineering Biomedical.; Engineering Mechanical.; Health Sciences Medicine and Surgery.
  • 学位 Ph.D.
  • 年度 2006
  • 页码 164 p.
  • 总页数 164
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 生物医学工程;机械、仪表工业;
  • 关键词

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