发表机构
Seoul National University Hospital; Rosota Inc.; Seoul National University College of Medicine; Seoul National University; Institute of Convergence Medicine with Innovative Technology, Seoul National University Hospital; Eulji University College of Medicine; Chungang University（首尔大学医院; Rosota公司; 首尔大学医学院; 首尔大学; 首尔大学医院创新技术融合医学研究所; 乙支大学医学院; 中央大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究提出一种基于通用机器人臂和可分离远端接口的低成本手术主控台，实现关节式操作与连续抓握，并在猪胆囊切除术中验证其有效性与安全性。
AI 中文摘要
高性能手术主控台提供直观的关节式操作，但价格昂贵且难以复制，而可获取的商业触觉设备缺乏用于手术腕部关节活动和连续抓握的内置接口。我们提出了一种腹腔镜主控台，其中通用机器人操作器提供可编程基座，手术特定交互集中在可分离的远端适配器中。每个6自由度臂携带一个定制的2自由度直驱腕部、连续抓握传感和基于离合的工作空间管理；完整的双手硬件成本约为5,500美元，低于常见的双手商业触觉参考设备。为支持持续的手引导使用，我们表征了电流缩放、重力和断裂摩擦力，并将其用于姿态相关重力补偿和运动门控辅助，减少连续驱动和热负荷。一个共同的主控状态驱动Isaac Sim或受RCM约束的双FR3平台。主控状态发布到FR3目标更新最多增加8毫秒，尖端跟踪显示平均延迟对齐残差为0.31-0.66毫米。在猪胆囊切除术实验中，将五个常见的操作者侧指标和手/尖端速度分布与来自99例胆囊切除术的120个临床Versius记录的人体体内遥测数据进行了描述性比较；主控台未引发任何中断，术后7天观察期内未记录到异常临床体征。这些结果证明了一种由通用机器人臂构建的手术主控台，其手术特定交互集中在可分离的远端接口中。
英文摘要
High-performance surgical master consoles offer intuitive articulated manipulation but are expensive and difficult to reproduce, while accessible commercial haptic devices lack built-in interfaces for surgical wrist articulation and continuous grasp. We present a laparoscopic master in which general-purpose robot manipulators provide the programmable base and surgical-specific interaction is concentrated in a separable distal adapter. Each 6-DoF arm carries a custom 2-DoF direct-drive wrist, continuous grasp sensing, and clutch-based workspace management; the complete bimanual hardware costs approximately US$5,500, below common bimanual commercial haptic references. To support sustained hand-guided use, we characterize current scaling, gravity, and break-away friction and use them for posture-dependent gravity compensation and motion-gated assistance, reducing continuous actuation and thermal loading. A common master state drives either Isaac Sim or an RCM-constrained dual-FR3 platform. Master-state publication to FR3 target update adds at most 8 ms, and tip tracking shows 0.31-0.66 mm mean delay-aligned residuals. In a porcine cholecystectomy experiment, five common operator-side metrics and hand/tip-speed distributions were compared descriptively with human in-vivo telemetry from 120 clinical Versius recordings of 99 cholecystectomy procedures; no interruption originated from the master console, and no abnormal clinical signs were recorded during the 7-day postoperative observation period. These results demonstrate a surgical master built from general-purpose robot arms with surgical-specific interaction concentrated in a separable distal interface.
CommentsSubmitted to IEEE ICRA 2027
