为上消化道微创手术设计可远程操控的机械臂系统，提升操作精度与医生舒适度。
Robotic Tele-Operation for Upper Aerodigestive Tract Microsurgery: System Design and Validation
- 采用带远程运动中心的机械臂，配合新型夹持器末端执行器实现精准控制。
- 通过两项实验和可用性评估验证系统有效性，显著改善操作稳定性和人机工效。
- 适合需要高精度、低疲劳的头颈外科微创手术场景，尤其适合复杂部位组织操作。
上消化道（UADT）治疗常采用经口激光显微手术（TLM）进行肿瘤或息肉切除。在TLM中，使用激光切割目标组织，同时用镊子夹持、移动并稳定组织。尽管现有TLM系统采用不同技术与交互方式，镊子操作仍主要依赖人工，导致人机工效差、精度不足、可控性弱。本文提出一种新型机器人系统，用于UADT术中组织操作，基于专为镊子控制设计的末端执行器。系统集成于远程操作框架，采用具备程序化远程运动中心（RCM）的机械臂，实现精确且受约束的器械运动，有效提升手术者操作舒适度。该方法通过两项实验研究与专用可用性评估进行验证，结果表明其在提高操作精度与适用性方面具有显著效果，适用于UADT外科手术应用。
原文摘要 · Abstract (English)
Upper aerodigestive tract (UADT) treatments frequently employ transoral laser microsurgery (TLM) for procedures such as the removal of tumors or polyps. In TLM, a laser beam is used to cut target tissue, while forceps are employed to grasp, manipulate, and stabilize tissue within the UADT. Although TLM systems may rely on different technologies and interfaces, forceps manipulation is still predominantly performed manually, introducing limitations in ergonomics, precision, and controllability. This paper proposes a novel robotic system for tissue manipulation in UADT procedures, based on a novel end-effector designed for forceps control. The system is integrated within a teleoperation framework that employs a robotic manipulator with a programmed remote center of motion (RCM), enabling precise and constrained instrument motion while improving surgeon ergonomics. The proposed approach is validated through two experimental studies and a dedicated usability evaluation, demonstrating its effectiveness and suitability for UADT surgical applications.
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