Int J Med Robot - Direct manipulation of tool-like masters for controlling a master-slave surgical robotic system.

Tópicos

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Resumo

CKGROUND: Robotic-assisted minimally invasive surgery (MIS) can benefit both patients and surgeons. However, the learning curve for robotically assisted procedures can be long and the total system costs are high. Therefore, there is considerable interest in new methods and lower cost controllers for a surgical robotic system.METHODS: In this study, a knife-master and a forceps-master, shaped similarly to a surgical knife and forceps, were developed as input devices for control of a master-slave surgical robotic system. In addition, a safety strategy was developed to eliminate the master-slave orientation difference and stabilize the surgical system.RESULTS: Master-slave tracking experiments and a ring-and-bar experiment showed that the safety tracking strategy could ensure that the robot system moved stably without any tremor in the tracking motion. Subjects could manipulate the surgical tool to achieve the master-slave operation with less training compared to a mechanical master.CONCLUSIONS: Direct manipulation of the small, light and low-cost surgical tools to control a robotic system is a possible operating mode. Surgeons can operate the robotic system in their own familiar way, without long training. The main potential safety issues can be solved by the proposed safety control strategy.

Resumo Limpo

ckground roboticassist minim invas surgeri mis can benefit patient surgeon howev learn curv robot assist procedur can long total system cost high therefor consider interest new method lower cost control surgic robot systemmethod studi knifemast forcepsmast shape similar surgic knife forcep develop input devic control masterslav surgic robot system addit safeti strategi develop elimin masterslav orient differ stabil surgic systemresult masterslav track experi ringandbar experi show safeti track strategi ensur robot system move stabli without tremor track motion subject manipul surgic tool achiev masterslav oper less train compar mechan masterconclus direct manipul small light lowcost surgic tool control robot system possibl oper mode surgeon can oper robot system familiar way without long train main potenti safeti issu can solv propos safeti control strategi

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