Abstract
Robotic surgery and novel surgical instrumentation present great potentials towards safer, more accurate and consistent minimally invasive surgery. However, their adoption is dependent to the access to training facilities and extensive surgical training. Robotic instruments require different dexterity skills compared to open or laparoscopic. Surgeons, therefore, are required to invest significant time by attending extensive training programs. Contrary, hands on experiences represent an additional operational cost for hospitals as the availability of robotic systems for training purposes is limited. All these technological and financial barriers for surgeons and hospitals hinder the adoption of robotic surgery. In this paper, we present a mobile dexterity training kit to develop basic surgical techniques within an affordable setting. The system could be used to train basic surgical gestures and to develop the motor skills needed for manoeuvring robotic instruments. Our work presents the architecture and components needed to create a simulated environment for training sub-tasks as well as a design for portable mobile manipulators that can be used as master controllers of different instruments. A preliminary study results demonstrate usability and skills development with this system.
Abstract (translated)
机器人手术和新型手术器械为更安全,更准确和一致的微创手术提供了巨大的潜力。但是,它们的采用取决于获得培训设施和广泛的外科培训。与开腹或腹腔镜相比,机器人器械需要不同的灵巧技能。因此,外科医生需要通过参加广泛的培训计划来投入大量时间。相反,实践经验代表了医院的额外运营成本,因为用于培训目的的机器人系统的可用性是有限的。外科医生和医院的所有这些技术和财务障碍阻碍了机器人手术的采用。在本文中,我们提出了一种移动灵活性训练套件,用于在经济实惠的环境中开发基本的手术技术。该系统可用于训练基本的手术姿势并培养操纵机器人仪器所需的运动技能。我们的工作介绍了创建用于训练子任务的模拟环境所需的架构和组件,以及可用作不同仪器的主控制器的便携式移动机械手的设计。初步研究结果证明了该系统的可用性和技能开发。
URL
https://arxiv.org/abs/1807.08057