The paper discusses the development and experimental evaluation of the PARA-SILSROB parallel robot, which was designed to address the limitations of current minimally invasive surgical techniques. The robot is intended to control laparoscopic cameras and active surgical instruments during single-incision laparoscopic surgery (SILS).
The authors conducted experiments to assess the accuracy and repeatability of the PARA-SILSROB robot using two methods:
Optical motion tracking: The accuracy was evaluated by comparing the trajectory of the robot's end-effector, measured using the OptiTrack system, with the trajectory generated using the robot's kinematic model. The root-mean-square error (RMSE) between the measured and modeled trajectories was found to be 0.3 mm.
Coordinate measuring: The repeatability was determined by repeatedly moving the robot's mobile platform to a predefined point and measuring its position using a Stinger II measuring arm. The repeatability standard deviation for the entire trajectory was 0.18 mm.
The results demonstrate that the PARA-SILSROB robot meets the accuracy and repeatability requirements for surgical applications, which are typically in the range of 1-2 mm. The authors note that the accuracy and repeatability of the robot are influenced by factors such as the limitations of the optical tracking system and the elasticity of the tissue during actual surgical procedures.
The paper concludes by highlighting the promising results of the first iteration of the PARA-SILSROB robot and plans for future development, including extended studies on different trajectories and experimental tests on human phantoms in relevant medical conditions.
Til et andet sprog
fra kildeindhold
arxiv.org
Vigtigste indsigter udtrukket fra
by Doin... kl. arxiv.org 04-18-2024
https://arxiv.org/pdf/2404.11140.pdfDybere Forespørgsler