Purpose

By integrating locally operated surgical assistant robots in a sterilized area, a surgeon can perform safe robotically assisted laparoscopic solo surgery while controlling a laparoscope-holding robot and a forceps robot. At present, there is no leader–follower control system with switchable connection for the leader device in which each assistant follower robot can provide the manipulation intuitively and easily. In the present study, a new locally operated leader–follower selectable control system has been developed.

Methods

The leader–follower system was developed to connect one leader operating device and one of two selectable follower assistant manipulator devices with different numbers of axes, kinematics models, sensors, and actuators for view stabilization and pulling organs. The system is constructed using the middleware of the ORiN-based medical robot architecture MRLink. The system is regulated by the robot integrator application with unilateral leader–follower PTP using the relative displacement between the leader device and the selected follower device through providers of device interface including the information and control commands.

Results

The execution cycle for updating the position was 50 ms, and the time delay to catch up with the same position was 100 ms. Two assistant manipulators controlled by the leader–follower selectable system could successfully produce the desired view and handle the target organ model for 17 min in a simulated laparoscopic cholecystectomy.

Conclusions

A locally operated leader–follower selectable control system was constructed to facilitate minimally invasive, robotically assisted laparoscopic solo surgery by a doctor working near the patient. This system could be used for such applications.

中文翻译：

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带有可选连接系统的本地操作辅助机械手，用于机器人辅助的腹腔镜单人手术

目的

通过在无菌区域中集成本地操作的手术助手机器人，外科医生可以在控制腹腔镜固定机器人和钳子机器人的同时执行安全的机器人辅助腹腔镜单人手术。当前，没有用于领导者设备的可切换连接的领导者跟随者控制系统，每个辅助跟随者机器人都可以直观，轻松地进行操纵。在本研究中，已经开发了一种新的本地操作的领导者-跟随者可选控制系统。

方法

领导者跟随者系统的开发目的是连接一个领导者操作设备和两个可选择的跟随者辅助操纵器设备之一，这些设备具有不同数量的轴，运动学模型，传感器和用于稳定视线和拉动器官的执行器。该系统是使用基于ORiN的医疗机器人体系结构MRLink的中间件构建的。该系统由机器人集成器应用程序与单边引导者跟随者PTP一起使用，该引导者通过设备界面的提供者（包括信息和控制命令）在引导者设备和选定的跟随者设备之间进行相对位移。

结果

更新位置的执行周期为50 ms，追赶相同位置的时间延迟为100 ms。由领导者-跟随者可选系统控制的两个辅助操纵器可以成功地产生所需的视图，并在模拟腹腔镜胆囊切除术中处理目标器官模型达17分钟。

结论

构建了本地操作的领导者-跟随者可选控制系统，以促进由在患者附近工作的医生进行的微创，机器人辅助的腹腔镜单独手术。该系统可以用于这样的应用。