新型机器人吻合器提升食管手术精度，降低术后并发症风险
Design of an innovative robotic surgical instrument for circular stapling
- 采用三电机驱动实现吻合器头、刀片及末端75度弯曲运动
- 通过运动学分析确保末端位置精准同步，提升狭窄空间操作能力
- 适合微创外科医生在复杂解剖区域使用，尤其适用于食管癌手术
食管癌仍是一种高度恶性的疾病，生存率低，需依赖如食管切除术等先进外科手术。传统手动操作的圆形吻合器存在精度有限、恢复时间长及吻合口漏、组织错位等并发症问题。本文提出一种新型机器人圆形吻合器，旨在提升狭小空间内的操作灵巧性，改善组织对齐，降低术后风险。该吻合器集成认知机器人作为外科助手，采用三个执行器分别控制砧座运动、切割/缝合部件运动，并支持载荷末端（远端）75度弯曲。通过运动学分析计算吻合器末端位置，确保与机器人系统同步。
原文摘要 · Abstract (English)
Esophageal cancer remains a highly aggressive malignancy with low survival rates, requiring advanced surgical interventions like esophagectomy. Traditional manual techniques, including circular staplers, face challenges such as limited precision, prolonged recovery times, and complications like leaks and tissue misalignment. This paper presents a novel robotic circular stapler designed to enhance the dexterity in confined spaces, improve tissue alignment, and reduce post-operative risks. Integrated with a cognitive robot that serves as a surgeon's assistant, the surgical stapler uses three actuators to perform anvil motion, cutter/stapler motion and allows a 75-degree bending of the cartridge (distal tip). Kinematic analysis is used to compute the stapler tip's position, ensuring synchronization with a robotic system.
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