A Robotic System with Robust Remote Center of Motion Constraint for Endometrial Regeneration Surgery

Chinese Journal of Mechanical Engineering

Zhidong Wang¹  Jichun Tan²  Xiong Zheng³  Zhenxing Wang⁴  Jianhua Li⁴  Chongyang Wang⁴  Hao Liu⁴ 

[1] Chiba Institute of Technology;Shengjing Hospital of China Medical University;Shenyang Jianzhu University;State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences;

关键词: Endometrial regeneration;    Surgical robot;    Remote center of motion;    Task decoupled;   

DOI  :  10.1186/s10033-022-00731-2

来源: DOAJ

【 摘 要 】

Abstract Surgical robots have been widely used in different procedures to improve and facilitate the surgery. However, there is no robot designed for endometrial regeneration surgery, which is a new therapy for restoring fertility in women using stem cells. Endometrial regeneration surgery requires processing of the endometrium and transplantation of stem cells with minimal trauma to the uterus. In this paper, we introduce a surgical robotic system that consists of a dexterous hysteroscope, supporting arm, and additional novel instruments to facilitate the operation and decrease trauma to the uterus. Remote center of motion (RCM) constraint is required to protect the cervix of the uterus. First, the supporting arm and hysteroscope are controlled separately in kinematics to ensure that the RCM constraint and hysteroscope’s shape and posture are predictable. Then, a task-decoupled method is used to improve the robustness of the RCM constraint. Experiments confirm that the proposed method is more robust and achieves higher RCM accuracy. In addition, the master-slave control of a robot with RCM constraint is also verified. This study proposes the realization of a robot with robust RCM control for endometrial regeneration surgery.

【 授权许可】

Unknown