针对单孔腹腔镜手术的磁锚定激光刀机器人的设计

Design of magnetic anchoring laser knife robot for laparoendoscopic single-site surgery

目的:针对目前磁锚定能量器械研究的不足,设计一种应用于单孔腹腔镜手术的磁锚定激光刀机器人。方法:磁锚定激光刀机器人基于980 nm半导体激光设计,由控制器、激光器、光纤、激光刀、电源及外磁体组成。利用猪肝脏及鱼鳔建立猪肝囊肿模型,通过猪肝囊肿切开引流术在体外对磁锚定激光刀机器人的可行性和安全性进行初步验证。结果:磁锚定激光刀机器人可通过25 mm戳卡置入腹腔,实现4个自由度的运动及肝脏组织的切割,且与外磁体和电动机控制间无电磁干扰风险。结论:磁锚定激光刀机器人弥补了当前磁锚定能量器械研究存在的不足,对提高磁锚定单孔腹腔镜手术的微创性及操作性具有重要意义。

Objective To design a magnetic anchoring laser knife robot for laparoendoscopic single-site surgery so as to eliminate the deficiencies of the existing researches on magnetic anchoring energy devices.Methods A magnetic anchoring laser knife robot was designed based on 980 nm semiconductor laser,which was composed of a controller,a laser,an optical fiber,a laser knife,a power source and an external magnet.A model of porcine liver cyst was established using porcine liver and fish swim bladder,and the feasibility and safety of the magnetic anchoring laser knife robot were preliminarily verified through porcine liver cyst incision and drainage.Results The knife robot could be inserted into the abdominal cavity via a 25 mm trocar,allowing 4 degrees of freedom of movement and cutting of liver tissue without the risk of electromagnetic interference with the external magnet and motor control.Conclusion The knife robot makes up for the shortage of the existing magnetic anchored energy devices,and is of great significance for enhancing the performances of laparoendoscopic singlesite surgery.