Surgical robots have been widely used in different procedures to improve and facilitate the surgery.However,there is no robot designed for endometrial regeneration surgery,which is a new therapy for restoring fertility in women using stem cells.Endometrial regeneration surgery requires processing of the endometrium and transplantation of stem cells with minimal trauma to the uterus.In this paper,we introduce a surgical robotic system that consists of a dexter-ous hysteroscope,supporting arm,and additional novel instruments to facilitate the operation and decrease trauma to the uterus.Remote center of motion(RCM)constraint is required to protect the cervix of the uterus.First,the sup-porting arm and hysteroscope are controlled separately in kinematics to ensure that the RCM constraint and hystero-scope's shape and posture are predictable.Then,a task-decoupled method is used to improve the robustness of the RCM constraint.Experiments confirm that the proposed method is more robust and achieves higher RCM accuracy.In addition,the master-slave control of a robot with RCM constraint is also verified.This study proposes the realization of a robot with robust RCM control for endometrial regeneration surgery.

Jianhua Li;Chongyang Wang;Zhenxing Wang;Xiong Zheng;Zhidong Wang;Jichun Tan;Hao Liu

State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China;Shenyang Jianzhu University,Shenyang 110168,China;Chiba Institute of Technology,Chiba 275-0016,Japan;Shengjing Hospital of China Medical University,Shenyang 110016,China

中国机械工程学报

[1]Jianhua Li;Chongyang Wang;Zhenxing Wang;Xiong Zheng;Zhidong Wang;Jichun Tan;Hao Liu-.A Robotic System with Robust Remote Center of Motion Constraint for Endometrial Regeneration Surgery)[J].中国机械工程学报,2022(04):24-36

dexter,hysteroscope,hystero

Robotic,System,Robust,Remote,Center,Motion,Constraint,Endometrial,Regeneration,Surgery,Surgical,robots,have,been,widely,used,different,procedures,improve,facilitate,surgery,However,there,designed,endometrial,regeneration,which,new,therapy,restoring,fertility,women,using,cells,requires,processing,endometrium,transplantation,minimal,trauma,uterus,In,this,paper,introduce,surgical,robotic,system,that,consists,ous,supporting,arm,additional,novel,instruments,operation,decrease,center,motion,RCM,constraint,required,protect,cervix,First,are,controlled,separately,kinematics,ensure,shape,posture,predictable,Then,task,decoupled,method,robustness,Experiments,confirm,proposed,more,achieves,higher,accuracy,master,slave,also,verified,This,study,proposes,realization

0.550207