RESUMEN
PURPOSE: Research on surgical robotics demands systems for evaluating scientific approaches. Such systems can be divided into dedicated and versatile systems. Dedicated systems are designed for a single surgical task or technique, whereas versatile systems are designed to be expandable and useful in multiple surgical applications. Versatile systems are often based on industrial robots, though, and because of this, are hardly suitable for close contact with humans. METHOD: To achieve a high degree of versatility the Miro robotic surgery platform (MRSP) consists of versatile components, dedicated front-ends towards surgery and configurable interfaces for the surgeon. RESULTS: This paper presents MiroSurge, a configuration of the MRSP that allows for bimanual endoscopic telesurgery with force feedback. CONCLUSIONS: While the components of the MiroSurge system are shown to fulfil the rigid design requirements for robotic telesurgery with force feedback, the system remains versatile, which is supposed to be a key issue for the further development and optimisation.
Asunto(s)
Robótica , Telemedicina , Endoscopía/métodos , Diseño de Equipo , Humanos , Robótica/métodos , Interfaz Usuario-ComputadorRESUMEN
In minimally invasive surgery (MIS) the patient's skin forms a spatial barrier between the operation area and the surgeon. This prevents direct access to the operation site which causes a lack of dexterity and limits the sensation of tissue manipulation forces, therefore complicating MIS procedures significantly. A telepresence approach can overcome these limitations: Additional degrees of freedom (DoF) inside the patient provide full manipulability and force torque sensors at the distal end of the instrument allow precise measurement of interaction forces. Using a suitable man-machine interface and free cartesian motion kinaesthetic feedback can be achieved, thus providing a virtual open surgery environment to the surgeon. This article focuses on the development and first results of actuated and sensor integrated instruments as part of the DLR minimally invasive robotic surgery (MIRS) setup. The instruments as a front-end part of the MIRS setup form one base of a telepresence working environment and are crucial for semi-autonomous functions, e.g. motion compensation.