纤维内镜机器人手术系统设计与人体模型实验研究

目的　机器人辅助内镜手术操作系统应用于内镜外科手术 ,通过医生和机器人系统的合理分工和有机配合 ,可以提高手术质量、改善医生工作条件、实现远程及超远程手术等 ,研究并开发此系统对于发展微创医学有重要意义。本研究的目的在于以操作纤维内镜为研究对象 ,开发出计算机辅助纤维内镜手术系统。方法　就机器人系统的研制背景、总体设计、内镜操作器子系统原型样机设计及实验 ,并结合系统开发对内镜外科机器人的人机交互接口、安全性等问题进行了系统探索和研究。结果　根据系统总体设计 ,研制出计算机辅助内镜操作器模型机和一种内镜器械操作器物理样机 ;使用内镜操作器样机 ,通过远距离 (5m外 )操作计算机顺利完成临床人体模型乙状结肠镜检查试验。结论　机器人辅助纤维内镜系统的概念设计是可行和实用的、系统样机的设计是合理的、样机的基本功能达到了设计要求、人体模型应用实验证实和验证了采用机器人辅助操作纤维内镜是可行的。

Appllied study and human model test of Robot-assisted flexible endoscopic surgery system

ObjectiveTo design and develop a prototype robot-assisted flexible endoscope system and study its possibility.MethodsThe research background,the system architecture,the detailed prototype design were studied.In order to prove the design and prototype endoscope manipulator,human colon model test was performed.Furthermore,some problems about medical robots such as human-machine interface,safety etc.were also studied.ResultsBased on the design,a prototype robot-assisted flexible endoscope manipulator and a prototype robot-assisted injector manipulator were made successfully.Human colon model test was performed with Olympus colonoscope (CF-I type).The test proved the design and had a good result.By controlling the computer,the operator finished sigmoidscopy with robot-assisted flexible endoscope manipulator 5 m (maxim 15 m) away from the colon model outside of the operation room.ConclusionThe idea of a robot-assisted flexible endoscope surgery system is practicable as well as the design is practical.These are proved by the test of sigmoidscopy using a human colon model with the robot-assisted flexible endoscope manipulator and control system.