RESUMO
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.
Assuntos
Laparoscopia , Procedimentos Cirúrgicos Robóticos , Humanos , Procedimentos Cirúrgicos Minimamente InvasivosRESUMO
BACKGROUND: Haptic devices with active translation and orientation outputs are highly preferred in surgical teleoperation. However, commercial products are expensive, while state-of-the-art research prototypes are difficult to reproduce outside the original laboratories. METHODS: This paper presents the design and experimental characterizations of two styluses for the CombX, a haptic device with both force and torque outputs constructed from two TouchX haptic devices, which have only force outputs at their styluses. The arrangement was optimized to improve the specifications. Additional functions for surgical teleoperation were also integrated. RESULTS: The CombX has a translation workspace larger than 160 × 160 × 160 mm3 . After calibration, it can provide force outputs of up to 16.32 N and torque outputs of up to 316 mNm. The CombX has also been successfully used to teleoperate a continuum surgical manipulator for two surgical tasks. CONCLUSION: The results show that the CombX is a viable option for surgical teleoperation.
