摘要
目的:手术机器人系统打破了传统手术的局限,在外科手术上展现出优良的性能,被广泛应用于外科领域的微创治疗中。本研究致力于验证国产手术机器人系统的基本性能和整合双极电凝系统、超声刀的安全性和有效性。方法:以国产手术机器人、徒手和腹腔镜3种方式完成方结和外科结、纵横穿孔和右手环形穿孔缝合任务,以及捡豆子任务评价国产手术机器人系统的基本性能。与腹腔镜比较,通过检测离体动物的血管闭合性能和组织病理损伤程度评价国产手术机器人整合双极电凝系统、超声刀的安全性和有效性。结果:国产手术机器人打结速度和周径较徒手打结略差,但优于腹腔镜。3种方法所打的外科结承受的拉力差异无统计学意义(P>0.05),但徒手和国产手术机器人打的方结的拉力均大于腹腔镜(均P<0.05)。国产手术机器人打结时左右手钳头所需空间均比腹腔镜小(均P<0.001),可以顺利完成4个象限的缝合任务;捡豆子任务的耗时明显比腹腔镜少(P<0.05)。国产手术机器人互连的双极电凝系统作用于肝组织后,组织温度与腹腔镜互连的双极电凝系统无明显差异,光镜下均呈急性热损伤。国产手术机器人互连的超声刀作用于肝组织后,组织温度高于腹腔镜互连的超声刀(P<0.05)。结论:国产手术机器人在缝合、打结、移物方面明显优于腹腔镜,并且国产手术机器人互连双极电凝系统和超声刀在动物实验中均取得成功,可认为止血是安全有效的。
Objective: Surgical robot system has broken the limitation of traditional surgery andshown excellent performance in surgery, and has been widely used in minimally invasivetreatment in most areas of surgery. This study aims to verify the basic performance of thedomestic surgical robot system and the safety and effectiveness of the integrated bipolar electrocoagulation and ultrasonic knife.Methods: The basic performance of the domestic surgical robot system was evaluated bycompleting the square knot and surgical knot, vertical and horizontal perforation and rightring perforation and suture, as well as picking up beans. Compared with laparoscopy, thesafety and effectiveness of the domestic surgical robot after integrated interconnectionbipolar electrocoagulation and ultrasonic scalpel were evaluated by detecting the vascularclosure performance and the degree of histopathological damage in animals.Results: Compared with freehand knotting, domestic robot knotting speed andcircumference were slightly worse, but better than laparoscopic knotting. There was nostatistical significance in the tension difference of the surgical knots among the 3 methods(P>0.05), but the tension of the square knots made by the freehand and the domesticsurgical robot was greater than that of the laparoscopy (P<0.05). The space required forboth the left and right forceps heads of knots was smaller than that of laparoscopy (P<0.001), which successfully completed the 4 quadrant suture tasks, and the time of pickingup beans was significantly less than that of laparoscopy (P<0.05). There was no significantdifference in the temperature of the liver tissue after the bipolar electrocoagulation betweenthe interconnected domestic surgical robot and the laparoscopy (P>0.05), and the acutethermal injury was observed under the light microscope. The temperature of the liver tissuetreated by the domestic robotic ultrasound knife was higher than that of the laparoscopicultrasound knife (P<0.05).Conclusion: Domestic surgical robots are obviously superior to l
作者
宋智
王国慧
朱利勇
易波
李鹏洲
朱晒红
孙林丽
SONG Zhi;WANG Guohui;ZHU Liyong;YI Bo;LI Pengzhou;ZHU Shaihong;SUN Linli(Second Department of Gastrointestinal Surgery,Third Xiangya Hospital,Central South University,Changsha 410013,China)
出处
《中南大学学报（医学版）》
CAS
CSCD
北大核心
2023年第2期221-230,共10页
Journal of Central South University ：Medical Science
基金
湖南省临床医疗技术创新引导项目(2020SK53611)。
关键词
手术机器人
腹腔镜
双极电凝系统
超声刀
基本性能
安全性
surgical robot
laparoscopy
bipolar electrocoagulation
ultrasonic knife
basic performance
security
