5G远程机器人手术动物实验研究

目的通过动物实验进行5G网络下远程机器人手术可行性分析。 方法将国产康多机器人主、从系统分开，物理空间隔离50 km，借助华为技术有限公司和中国联通共同研发的5G网络互联，主刀医师远程无线控制床旁操作系统进行动物实验，测试远程手术稳定性和安全性相关指标。 结果2018年12月18日，动物实验在福建省福州市顺利完成。主刀医师远程控制2个机械臂(双极电凝和电凝钩)和镜头臂，顺利完成猪的肝脏楔形切除，切除范围约2 cm×2 cm×3 cm。整个动物实验耗时约60 min，出血约5 ml，术中高清3D影像及声音传输即时、稳定，床旁机械臂操作平顺、灵活，主、从跟踪性好，无误操作产生，主、从映射模型正确。移动执行器末端运动指令到机器人臂末端运动平均延误时间<150 ms。整个实验过程机器人系统未出现软件、硬件不良状况。 结论本次动物实验是国际上5G远程手术的首次尝试，结果初步验证了5G远程国产机器人手术技术可行，远程手术的应用将有效解决目前医疗资源供需不平衡的矛盾，实现优质医疗资源下沉，缩小分级诊疗差距，有效降低医疗开支，减轻患者的经济负担，对战时医疗救援更有十分重要的意义。

Animal experiment for 5G remote robotic surgery

ObjectiveTo evaluate the feasibility of remote robotic surgery under 5G network through animal experiment. MethodsThe surgeon console and the bedside cart of the domestic Kangduo robotic system were separated and 50 kilometers apart from each other. With the 5G network interconnection jointly developed by Huawei Technologies Company and China Unicom, the surgeons remotely control the bedside cart for animal experiments to test the stability and safety of remote surgery. ResultsOn Dec.18, 2018, the experiment was successfully completed in Fuzhou, Fujian Province. The surgeon remotely controlled two robotic arms (bipolar coagulation and electrocoagulation hooks) and the lens arm, and successfully completed the wedge resection of the pig liver. The resected specimen was about 2 cm×2 cm×3 cm. The whole animal experiment took about 60 minutes and the bleeding was about 5 ml. The intraoperative high-definition 3D image and sound transmission were instantaneous and stable. The bedside robot arms were smooth and flexible. The master-slave motion tracking and mapping were correct and good. The average delay time from the actuator end motion command to the motion of robotic arms end was less than 150 ms. The robot system did not show any malfunction in software or hardware throughout the experimental process. ConclusionsThis animal experiment was the first attempt of 5G remote surgery in the world. The results preliminarily showed that the 5G remote domestic robot surgery technology was feasible. The application of remote surgery will effectively solve the contradiction between the current imbalance of supply and demand of medical resources, achieve the general application of high-quality medical resources, narrow the gap between different grades of medical resources, effectively reduce medical expenses, reduce the economic burden of patients, and have great significance for wartime medical rescue.