可交互的胆囊切除训练模型，模拟真实组织力反馈。
Interactive Surgical Liver Phantom for Cholecystectomy Training
- 基于拉拽演示建模胆囊力-位移特性，实现真实触感。
- 仿真力与猪组织实测数据对比，误差在可接受范围。
- 适合外科手术训练，提升机器人手术技能培养效率。
机器人辅助手术的训练与原型开发需要安全且合适的环境来执行手术操作。当前的干式腹腔镜训练模型往往无法模拟复杂的交互式手术任务。本文提出一种用于胆囊切除术的交互式外科训练模型，能够通过与仿生组织的操控和切割互动，完成胆囊切除过程。该模型基于拉拽演示建立胆囊的力-位移行为模型，并与离体猪胆囊的力模型进行对比，评估其对拉拽力的估计能力。
原文摘要 · Abstract (English)
Training and prototype development in robot-assisted surgery requires appropriate and safe environments for the execution of surgical procedures. Current dry lab laparoscopy phantoms often lack the ability to mimic complex, interactive surgical tasks. This work presents an interactive surgical phantom for the cholecystectomy. The phantom enables the removal of the gallbladder during cholecystectomy by allowing manipulations and cutting interactions with the synthetic tissue. The force-displacement behavior of the gallbladder is modelled based on retraction demonstrations. The force model is compared to the force model of ex-vivo porcine gallbladders and evaluated on its ability to estimate retraction forces.
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