期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 18, 期 3, 页码 914-921出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2012.2195325
关键词
Image guide; medical robot; prostatectomy; remote center of motion (RCM); transrectal ultrasound (TRUS) probe; ultrasound
类别
资金
- National Cancer Institute [CA141835]
- Sidney Kimmel Comprehensive Cancer Center, Johns Hopkins
- Hitachi-Aloka Medical Ltd.
We developed two similar structure manipulators for medical endocavity ultrasound probes with 3 and 4 degrees of freedom (DoF). These robots allow scanning with ultrasound for 3-D imaging and enable robot-assisted image-guided procedures. Both robots use remote center of motion kinematics, characteristic of medical robots. The 4-DoF robot provides unrestricted manipulation of the endocavity probe. With the 3-DoF robot the insertion motion of the probe must be adjusted manually, but the device is simpler and may also be used to manipulate external-body probes. The robots enabled a novel surgical approach of using intraoperative image-based navigation during robot-assisted laparoscopic prostatectomy (RALP), performed with concurrent use of two robotic systems (Tandem, T-RALP). Thus far, a clinical trial for evaluation of safety and feasibility has been performed successfully on 46 patients. This paper describes the architecture and design of the robots, the two prototypes, control features related to safety, preclinical experiments, and the T-RALP procedure.
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