期刊
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
卷 28, 期 9, 页码 1183-1197出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364909101795
关键词
surgical robot; telesurgery; mobile robotic telesurgery; kinematic optimization; minimally invasive surgery; teleoperation; FLS; task performance; human machine interface; time delay; surgical stills
类别
资金
- US Army, Medical Research and Materiel Command [DAMD17-1-0202, W81XWH-05-2-0080]
- US Army TATRC [W81XWH-07-2-0039]
The collaborative effort between fundamental science, engineering and medicine provides physicians with improved tools and techniques for delivering effective health care. Minimally invasive surgery (MIS) techniques have revolutionized the way a number of surgical procedures are performed. Recent advances in surgical robotics are once again revolutionizing MIS interventions and open surgery. In an earlier research endeavor, 30 surgeons performed 7 different MIS tasks using the Blue Dragon system to collect measurements of position, force, and torque on a porcine model. This data served as the foundation for a kinematic optimization of a spherical surgical robotic manipulator. Following the optimization, a seven-degree-of-freedom cable-actuated surgical manipulator was designed and integrated, providing all degrees of freedom present in manual MIS as well as wrist joints located at the surgical end-effector. The RAVEN surgical robot system has the ability to teleoperate utilizing a single bi-directional UDP socket via a remote master device. Preliminary telesurgery experiments were conducted using the RAVEN. The experiments illustrated the system's ability to operate in extreme conditions using a variety of network settings.
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