Zusammenfassung
Hintergrund
Autonome Roboteraktionen können prinzipiell eine Hilfestellung für die Chirurgie darstellen. Eine systematische Evaluierung steht allerdings aus. Ziel dieser Studie war es, erstmals die Machbarkeit, Sicherheit und Genauigkeit von Sternotomien und Kraniotomien zu untersuchen, die autonom von Robotern durchgeführt wurden.
Methoden
Bei sieben Schweinen wurde der komplette Prozess von der Planung bis hin zur Ausführung der Roboteraktion evaluiert: 3D Bildgebung (Spiral-CT, Schichtdicken von A) 2 vs. 4 mm bzw. B) 1,5 vs. 3 mm), 3D-Lokalisation von Markern, Trajektorienplanung, Matching der Registrierung mit den 3D-Bilddaten, Registrierungsfehler, Effektor-Kräfte (Knochenfräse). Die Robotertrajektorien zur A) medianen Sternotomie und B) Kraniotomie (n=28) wurden autonom durch einen Einarm-Roboter ausgeführt. Eine 3D-Vektoranalyse der geplanten versus der ausgeführten Trajektorien wurde anhand der CT-Bilddaten errechnet (Schichtdicke 1,5 mm). Es wurde eine Kraftbegrenzung von 35 N verwendet.
Ergebnisse
93% der Sternotomien und 86% der Kraniotomien waren als autonome Roboteraktion durchführbar. Es musste kein Not-Stop der Aktion ausgeführt werden. Die Unterschiede in der Detektion der Marker betrugen <2 mm und waren höher in der Kraniotomiegruppe (p<0,05). Der Registrierungsfehler war in der Sternotomiegruppe höher (p=0,03). Die mittlere Abweichung von der berechneten Trajektorie betrug A) 2,59±1,14 mm, B) 2,56±1,21 mm (n.s.). Bei Schichtbilddicken von ≤3 mm betrug die Abweichung von der geplanten Trajektorie 2,51±1,16 vs. 2,66±1,13 mm (Schichtdicken >3 mm) (n.s.). Die größten Kraftwerte traten am Ende der Trajektorien auf (21–44 N).
Schlussfolgerungen
Sicherheit, Machbarkeit und Genauigkeit der Roboteraktionen waren akzeptabel. Diese ersten Evaluierungsdaten könnten als Grundlage zukünftiger Aufgaben im Bereich der autonomen Roboterchirurgie dienen.
Abstract
Background
Autonomous robotic action may facilitate surgery. However, systematic evaluation data are lacking. The purpose of the study was to assess the feasibility, safety, and accuracy of sternotomy and craniotomy performed autonomously by a surgical robot, based on three dimensional (3D) planning.
Methods
In seven domestic pigs, the complete process of planning and robotic action were evaluated: 3D imaging (spiral CT scans, slice thickness (A) 2 mm vs. 4 mm, (B) 1.5 mm vs. 3 mm), 3D localization of markers, trajectory planning, matching of registration with 3D imaging, registration error, and effector forces (milling cutter). Robot milling trajectories for (A) median sternotomy and (B) craniotomy (n=28) were executed autonomously by a one-arm robot. 3D vector analysis of planned vs. executed trajectories was performed on CT scans (slice thickness 1.5 mm). Force limitation (35 N) was used.
Results
Robotic action was feasible in 93% of sternotomies and in 86% of craniotomies. No emergency stop occurred. Differences in marker detection were <2 mm, higher in craniotomies (p<0.05). Registration errors were higher in sternotomies (p=0.03). Mean trajectory deviation was (A) 2.59±1.14 mm, (B) 2.56 +1.21 mm (n.s.). For actions planned on image slices ≤3 mm, deviation was 2.51±1.16 vs 2.66±1.13 mm (slices >3 mm) (n.s.). Maximum forces (21–44 N) occurred at the end of trajectories.
Conclusions
Safety, feasibility and accuracy of the robotic tasks were acceptable. Our data may therefore serve as a base for future autonomic robotic procedures.
Abbreviations
- 3D:
-
dreidimensional
- CABG:
-
coronary artery bypass grafting
- CCD:
-
charge coupled device
- DOF:
-
degrees of freedom
- FTS:
-
force/torque sensor
- INS:
-
infrared navigation system
- LED:
-
light emitting diode
- TECAB:
-
totally endoscopic coronary artery bypass grafting
- TCP:
-
tool center point
- VATS:
-
video assisted thoracic surgery
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Albers, J., Schmidt, T., Hassfeld, S. et al. Sternotomie und Kraniotomie mithilfe autonomer Roboter. Z Herz- Thorax- Gefäßchir 21, 266–272 (2007). https://doi.org/10.1007/s00398-007-0599-8
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DOI: https://doi.org/10.1007/s00398-007-0599-8