Minimally invasive surgery,including laparoscopic and thoracoscopic procedures,benefits patients in terms of improved postoperative outcomes and short recovery time.The challenges in hand–eye coordination and manipul...Minimally invasive surgery,including laparoscopic and thoracoscopic procedures,benefits patients in terms of improved postoperative outcomes and short recovery time.The challenges in hand–eye coordination and manipulation dexterity during the aforementioned procedures have inspired an enormous wave of developments on surgical robotic systems to assist keyhole and endoscopic procedures in the past decades.This paper presents a systematic review of the state-of-the-art systems,picturing a detailed landscape of the system configurations,actuation schemes,and control approaches of the existing surgical robotic systems for keyhole and endoscopic procedures.The development challenges and future perspectives are discussed in depth to point out the need for new enabling technologies and inspire future researches.展开更多
Due to the improved treatment outcomes, research on robotic MIS(Minimally Invasive Surgery) thrived in the past decades. A benchmark example is the da Vinci system that dominates robotic laparoscopy via its technology...Due to the improved treatment outcomes, research on robotic MIS(Minimally Invasive Surgery) thrived in the past decades. A benchmark example is the da Vinci system that dominates robotic laparoscopy via its technology excellence and strong holding of intellectual properties. This study provides an alternative approach to realize robotic laparoscopic surgeries, by presenting the development and experimentation of the SMARLT(Strengthened Modularly Actuated Robotic Laparoscopic Tool) for MIS. A dual continuum mechanism is used in the design to achieve enhanced distal dexterity, improved reliability, increased payload capability, and actuation modularity. With kinematics modelling and actuation compensation, the SMARLT can be manipulated by a generic manipulator to carry out typical laparoscopic MIS tasks, such as tissue peeling, suturing, and knot tying. Payload capability was also experimentally characterized. The SMARLT-manipulator system essentially formed a continuum-rigid hybrid structure that makes full use of the advantages from each component: the continuum mechanism as a wrist for distal dexterity and other rigid parts for position accuracy and payload capability. With the experimental demonstration of the desired functionalities, the SMARLT design can lead to promising opportunities for commercialization.展开更多
基金This work was supported in part by the National Natural Science Foundation of China(Nos.51722507,51435010 and 91648103)in part by the National Key R&D Program of China(No.2017YFC0110800).
文摘Minimally invasive surgery,including laparoscopic and thoracoscopic procedures,benefits patients in terms of improved postoperative outcomes and short recovery time.The challenges in hand–eye coordination and manipulation dexterity during the aforementioned procedures have inspired an enormous wave of developments on surgical robotic systems to assist keyhole and endoscopic procedures in the past decades.This paper presents a systematic review of the state-of-the-art systems,picturing a detailed landscape of the system configurations,actuation schemes,and control approaches of the existing surgical robotic systems for keyhole and endoscopic procedures.The development challenges and future perspectives are discussed in depth to point out the need for new enabling technologies and inspire future researches.
基金supported by the National Natural Science Foundation of China(Grant Nos.51722507,51435010&91648103)the National Key R&D Program of China(Grant No.2017YFC0110800)
文摘Due to the improved treatment outcomes, research on robotic MIS(Minimally Invasive Surgery) thrived in the past decades. A benchmark example is the da Vinci system that dominates robotic laparoscopy via its technology excellence and strong holding of intellectual properties. This study provides an alternative approach to realize robotic laparoscopic surgeries, by presenting the development and experimentation of the SMARLT(Strengthened Modularly Actuated Robotic Laparoscopic Tool) for MIS. A dual continuum mechanism is used in the design to achieve enhanced distal dexterity, improved reliability, increased payload capability, and actuation modularity. With kinematics modelling and actuation compensation, the SMARLT can be manipulated by a generic manipulator to carry out typical laparoscopic MIS tasks, such as tissue peeling, suturing, and knot tying. Payload capability was also experimentally characterized. The SMARLT-manipulator system essentially formed a continuum-rigid hybrid structure that makes full use of the advantages from each component: the continuum mechanism as a wrist for distal dexterity and other rigid parts for position accuracy and payload capability. With the experimental demonstration of the desired functionalities, the SMARLT design can lead to promising opportunities for commercialization.
