中耳手术的安全路径
Safe Path following for Middle Ear Surgery
摘要：
本文制定了一个通用的表示路径跟踪控制器操作下包含的运动，这是在手术机器人的背景下开发的。它报告了两种类型的受约束运动：i）双侧受约束运动，也称为远程中心运动（RCM），以及ii）单侧受约束运动（UCM）。在第一种情况下，切口孔具有与机器人工具几乎相同的直径。相反，在第二状态下，切口孔口的直径大于工具直径。第二种情况提供了更多的空间，其中手术器械在接触切口壁之前自由移动而不受约束。所提出的方法结合了两个必须分层操作的任务：i）分别遵守由等式或不等式制定的RCM或UCM约束，以及ii）执行手术分配，例如，表示为3D路径跟踪任务的扫描或消融。所提出的方法和材料首先在我们的模拟器上进行了测试，该模拟器模仿中耳手术的现实条件，然后在实验平台上进行测试。不同的验证方案进行了实验，定量和定性评估每一个开发的方法。虽然最终的精度不是这项工作的目标，我们的概念是验证了足够的精度（低于100微米）的耳朵手术。
英文摘要：
This article formulates a generic representation of a path-following controller operating under contained motion, which was developed in the context of surgical robotics. It reports two types of constrained motion: i) Bilateral Constrained Motion, also called Remote Center Motion (RCM), and ii) Unilaterally Constrained Motion (UCM). In the first case, the incision hole has almost the same diameter as the robotic tool. In contrast, in the second state, the diameter of the incision orifice is larger than the tool diameter. The second case offers more space where the surgical instrument moves freely without constraints before touching the incision wall. The proposed method combines two tasks that must operate hierarchically: i) respect the RCM or UCM constraints formulated by equality or inequality, respectively, and ii) perform a surgical assignment, e.g., scanning or ablation expressed as a 3D path-following task. The proposed methods and materials were tested first on our simulator that mimics realistic conditions of middle ear surgery, and then on an experimental platform. Different validation scenarios were carried out experimentally to assess quantitatively and qualitatively each developed approach. Although ultimate precision was not the goal of this work, our concept is validated with enough accuracy (inferior to 100 micrometres) for ear surgery.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
