低成本机器人腹腔镜训练系统，支持远程教学与实时监控。
Developing a Robotic Surgery Training System for Wide Accessibility and Research
- 设计低成本机械臂末端，模拟高端手术器械操作。
- 实现0.01秒低延迟与5μm轨迹追踪误差，保持运动中心约束。
- 适合医学院校、偏远地区医疗培训及远程手术研究者使用。
机器人手术是医疗干预的重大突破，彻底改变了外科手术方式。然而，高成本和有限的可及性给培训带来了显著挑战。本研究通过开发一种低成本的机器人腹腔镜训练系统，实现对先进机器人手术系统的高度还原，确保现场与远程用户的广泛接入。关键创新包括设计出可有效模拟高端腹腔镜器械的低成本机械臂末端；建立数字孪生平台，支持详细仿真、测试与实时监控，提升系统开发与部署效率；优化远程操控控制，实现轨迹跟踪误差仅为5 μm，系统延迟降至0.01秒，同时维持远程中心运动约束。系统提供流畅连续的操作体验，并集成必要安全机制，成为高效的腹腔镜训练工具。
原文摘要 · Abstract (English)
Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training purposes. This study addresses these issues by developing a cost-effective robotic laparoscopy training system that closely replicates advanced robotic surgery setups to ensure broad access for both on-site and remote users. Key innovations include the design of a low-cost robotic end-effector that effectively mimics high-end laparoscopic instruments. Additionally, a digital twin platform was established, facilitating detailed simulation, testing, and real-time monitoring, which enhances both system development and deployment. Furthermore, teleoperation control was optimized, leading to improved trajectory tracking while maintaining remote center of motion (RCM) constraint, with a RMSE of 5 μm and reduced system latency to 0.01 seconds. As a result, the system provides smooth, continuous motion and incorporates essential safety features, making it a highly effective tool for laparoscopic training.
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