Mechanism And Surgery Skills Evaluation Based On Safety Of Surgical Robot

Compared with traditional industrial robots,increasing demands in safety are being placed on minim0 ally invasive surgery(MIS)robots caused by the special working condition and operation objects.The evaluation methods are needed during the procedures of design,manufacture and work to ensure the safety of surgery.This thesis focuses on the clinical requirements during the laparoscopy and summarized safety needs during the design and work procedures of surgical robot.Furthermore,this thesis proposes safety evaluation indicators and builds safety evaluation algorithm for the slave manipulator and surgery skills.Details are as follows.First,the safety requirements of MIS robots during the designing and working procedures are proposed and summarized in this thesis.The needed mechanical property of slave manipulator is analyzed and summarized based on the clinical requirements.On the other hand,the surgical skills requirements are also proposed in this thesis based on the safety needs during the work procedure of surgical robot.Second,according to the proposed mechanical property requirements of MIS robots,the ideal evaluation environment is built and several evaluation indicators of the manipulators with passive joints,including manipulability,movement accuracy and back drivability,are proposed.And the relationship between topology structure,dimension,position of manipulator and robot safety is found.A multilevel slave manipulator safety evaluation system is built which can help the engineer and medical staff design and use surgical robot safely.Third,according to the proposed safety requirements of surgical skills,a specific evaluation indicator is designed with DTW algorithm and the trajectories of instruments recorded by magnetic equipment.Furthermore,an unsupervised surgical skills evaluation algorithm is found in this thesis.Compared with existed evaluation method,the proposed algorithm is focused on the details of instrument movements and provides operators with real-time feedback.Finally,the surgical skills evaluation experiment is conducted with ‘MicroHand S' system which verified the effectiveness of the proposed surgical skills evaluation algorithm.