机器人辅助内镜手术系统的设计与开发

DESIGN AND DEVELOPMENT OF ROBOT-ASSITEDENDOSCOPE SURGERY SYSTEM

机器人应用于外科手术中 ,通过医生和机器人系统的合理分工和有机配合 ,可以提高手术质量、改善医生工作条件、实现远程手术等 .本文以纤维内镜手术为研究对象 ,针对术中 X射线对医护人员身体健康造成伤害的现状 ,设计了机器人辅助内镜手术系统 ,使医生可以远程控制手术室的操作器完成内镜和手术器械的操作 ,实现诊断和治疗的目的 .文章详细介绍了系统的研制背景、总体设计、内镜操作器子系统原型样机设计及实验 ,并结合系统开发对医疗外科机器人的人机交互接口、安全性及临床应用等问题进行了讨论 .

With the assistance of robot, reasonable cooperation could be accomplished between surgeon and robotic system, then, various advantages could be expected, such as improved surgery quality, better operation environment, realizing telesurgery etc. In this paper, concerning the harm of X ray to surgeons' health during flexible endoscopic surgery, robot-assisted endoscope surgery system is designed.Aided by this system, surgeon could teleoperate the robot in operating room to accomplish the manipulation of endoscope and surgical instruments, realizing the goal of diagnosis and therapy. In this paper, research background, system architecture, detailed prototype design and experiment of endoscope manipulator are introduced. Furthermore, some problems about medical robots such as human-machine interface, safety and clinical practice etc. are discussed.