Surgical robots have been widely used in diferent procedures to improve and facilitate the surgery.However,there is no robot designed for endometrial regeneration surgery,which is a new therapy for restoring fertility...Surgical robots have been widely used in diferent procedures to improve and facilitate the surgery.However,there is no robot designed for endometrial regeneration surgery,which is a new therapy for restoring fertility in women using stem cells.Endometrial regeneration surgery requires processing of the endometrium and transplantation of stem cells with minimal trauma to the uterus.In this paper,we introduce a surgical robotic system that consists of a dexterous hysteroscope,supporting arm,and additional novel instruments to facilitate the operation and decrease trauma to the uterus.Remote center of motion(RCM)constraint is required to protect the cervix of the uterus.First,the supporting arm and hysteroscope are controlled separately in kinematics to ensure that the RCM constraint and hysteroscope’s shape and posture are predictable.Then,a task-decoupled method is used to improve the robustness of the RCM constraint.Experiments confrm that the proposed method is more robust and achieves higher RCM accuracy.In addition,the master-slave control of a robot with RCM constraint is also verifed.This study proposes the realization of a robot with robust RCM control for endometrial regeneration surgery.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.61873257)CAS Interdisciplinary Innovation Team(Grant No.JCTD-2020-11)Science and Technology Program Project of Liaoning Province of China(Grant Nos.2021JH1/10400045,2021JH2/10300058).
文摘Surgical robots have been widely used in diferent procedures to improve and facilitate the surgery.However,there is no robot designed for endometrial regeneration surgery,which is a new therapy for restoring fertility in women using stem cells.Endometrial regeneration surgery requires processing of the endometrium and transplantation of stem cells with minimal trauma to the uterus.In this paper,we introduce a surgical robotic system that consists of a dexterous hysteroscope,supporting arm,and additional novel instruments to facilitate the operation and decrease trauma to the uterus.Remote center of motion(RCM)constraint is required to protect the cervix of the uterus.First,the supporting arm and hysteroscope are controlled separately in kinematics to ensure that the RCM constraint and hysteroscope’s shape and posture are predictable.Then,a task-decoupled method is used to improve the robustness of the RCM constraint.Experiments confrm that the proposed method is more robust and achieves higher RCM accuracy.In addition,the master-slave control of a robot with RCM constraint is also verifed.This study proposes the realization of a robot with robust RCM control for endometrial regeneration surgery.
