https://scholars.lib.ntu.edu.tw/handle/123456789/611437
標題: | Hydrostatic Actuation for Remote Operations in MR Environment | 作者: | Simonelli J. Lee Y.-H. Chen C.-W. Li X. Mikaiel S. Lu D. Wu H.H. YU-HSIU LEE |
關鍵字: | Article;equipment design;feedback system;laparoscopic surgery;quantitative analysis;robot assisted surgery;surgical training;system analysis;telesurgery;biomechanics;clinical competence;computer simulation;education;human;laparoscopy;mentor;procedures;software;teaching;telemedicine;Biomechanical Phenomena;Clinical Competence;Computer Simulation;Computer-Assisted Instruction;Equipment Design;Humans;Laparoscopy;Mentors;Robotic Surgical Procedures;Software;Telemedicine | 公開日期: | 2020 | 卷: | 25 | 期: | 2 | 起(迄)頁: | 894-905 | 來源出版物: | IEEE/ASME Transactions on Mechatronics | 摘要: | A laparoscopic surgical training system, the LapaRobot, is introduced. The system is composed of an expert station and a trainee station connected through the Internet. Embedded actuators allow the trainee station to be driven by an expert surgeon so that a trainee learns proper technique through physical feedback. The surgical-tool trajectory and video feed can be recorded and later “played back” to a trainee to hone operative skills through guided repetition without the need for expert supervision. The system is designed to create a high-fidelity approximation of the intracorporeal workspace, incorporate commercially available surgical instruments, and provide a wealth of high-resolution data for quantitative analysis and feedback. Experimental evaluation demonstrated a 55% improvement in surgical performance with use of our system. In this paper, we introduce the details of the design and fabrication of the LapaRobot, illustrate the mechatronics and software-control schemes, and evaluate the system in a study. ? 2019 John Wiley & Sons, Ltd. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85077158928&doi=10.1002%2frcs.2040&partnerID=40&md5=4c02e9ce43c0a97224ed28f053e154c5 https://scholars.lib.ntu.edu.tw/handle/123456789/611437 |
DOI: | 10.1109/TMECH.2019.2959805 |
顯示於: | 機械工程學系 |
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