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首页> 外文期刊>Surgical Endoscopy >Robotics and telemanipulation technologies for endoscopic surgery. A review of the ARTEMIS project. Advanced Robotic Telemanipulator for Minimally Invasive Surgery.
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Robotics and telemanipulation technologies for endoscopic surgery. A review of the ARTEMIS project. Advanced Robotic Telemanipulator for Minimally Invasive Surgery.

机译：内窥镜手术的机器人技术和远程操纵技术。审查ARTEMIS项目。先进的微创手术机器人操纵器。

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In endoscopic surgery, the ability to guide the instrument is significantly decreased compared with open surgery. Rigid laparoscopic instruments offer only four of the six degrees of freedom required for the free handling of objects in space. Robotics technology can be used to restore full mobility of the endoscopic instrument. Therefore, we designed a master-slave manipulator system (ARTEMIS) for laparoscopic surgery as a prototype. The system consists of two robotic arms holding two steerable laparoscopic instruments. These two work units are controlled from a console equipped with two master arms operated by the surgeon. The systems and its components were evaluated experimentally. Laparoscopic manipulations were feasible with the ARTEMIS system. The placement of ligatures and sutures and the handling of catheters were possible in phantom models. The surgical practicability of the system was demonstrated in animal experiments. We conclude that robotic manipulators are feasible for experimental endoscopic surgery. Their clinical application requires further technical development.
机译：在内窥镜手术中，与开放手术相比，引导器械的能力大大降低。刚性腹腔镜仪器仅提供自由处理空间物体所需的六个自由度中的四个。机器人技术可用于恢复内窥镜仪器的全部移动性。因此，我们设计了用于腹腔镜手术的主从机械手系统（ARTEMIS）作为原型。该系统由两个机械臂组成，其中两个机械臂装有两个可操纵的腹腔镜器械。这两个工作单元由配备有两个由医生操作的主臂的控制台控制。该系统及其组件进行了实验评估。腹腔镜手术在ARTEMIS系统中是可行的。在幻影模型中可以进行绑扎和缝合线的放置以及导管的处理。在动物实验中证明了该系统的手术实用性。我们得出结论，机器人机械手对于实验性内窥镜手术是可行的。它们的临床应用需要进一步的技术开发。

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