发表机构
University of California San Diego（加州大学圣迭戈分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对专用手术机器人成本高、可及性低的问题，提出DASH适配器，将达芬奇器械改装到通用机器人上，无需修改器械，兼容多种负载，通过遥操作实验验证了其有效性和研究可及性优势。
AI 中文摘要
机器人微创手术具有充分记录的临床优势，但专用平台的成本和基础设施要求限制了其在农村和资源匮乏机构中的可及性。近期工作已通过遥操作通用机器人执行腹腔镜任务和体内手术，但依赖于通过被动连杆耦合的手持器械，而非原生机器人驱动。相反，我们将达芬奇 Classic 和 Xi 器械适配到能够整合进临床工作流程的通用机器人上。我们提出 DASH，一种用于串联连杆和仿人平台的达芬奇适配器，由两种类型的适配器组成，无需对器械本身进行任何修改。每种适配器兼容多种机器人平台的负载能力，接合器械的原生闩锁，并通过无线方式识别插入的工具以加载特定于器械的运动学和耦合矩阵。遥操作实验证明了 DASH 的有效性及其在促进手术机器人平台研究可及性方面的优势。
英文摘要
Robotic minimally invasive surgery offers well-documented clinical benefits, but the cost and infrastructure requirements of purpose-built platforms limit access in rural and lower-resourced facilities. Recent work has teleoperated general-purpose robots for laparoscopic tasks and in vivo procedures, but relied on handheld instruments coupled through passive linkages rather than native robotic actuation. Instead, we adapt da Vinci Classic and Xi instruments onto general-purpose robots that can integrate in clinical workflows. We present DASH, a da Vinci Adapter for Serial-link and Humanoid platforms, consisting of two types of adapters that require no modification to the instruments themselves. Each adapter is compatible with many robotic platform load capacities, engages the instrument's native latch, and wirelessly identifies inserted tools to load instrument-specific kinematics and coupling matrices. Teleoperated experiments demonstrate the efficacy of DASH and its benefits for enabling research access to surgical robotic platforms.
Comments8 pages, 9 figures
