基于5G网络的图迈^(®)手术机器人远程动物实验研究  

Remote animal experiments with Toumai^(®)surgical robot based on 5G network

作　　者：马世勋[1,2,3] 狐鸣 马云涛[1,2] 景武堂 田宏伟[1,2] 龚世怡[1,2] 杨佳[1,2] 杨婧 蔡辉 MA Shixun;HU Ming;MA Yuntao;JING Wutang;TIAN Hongwei;GONG Shiyi;YANG Jia;YANG Jing;CAI Hui(Department of General Surgery,Gansu Provincial Hospital,Lanzhou 730000,China;Clinical Center of General Surgery,Gansu Provincial Hospital,Lanzhou 730000,China;Key Laboratory of Molecular Diagnostics and Precision Medicine for Surgical Oncology in Gansu Province,Lanzhou 730000,China)

机构地区：[1]甘肃省人民医院普外科,甘肃兰州730000 [2]甘肃省人民医院普外临床医学中心,甘肃兰州730000 [3]甘肃省肿瘤分子诊断与精准医学重点实验室,甘肃兰州730000

出　　处：《机器人外科学杂志(中英文)》2025年第1期12-17,23,共7页Chinese Journal of Robotic Surgery

基　　金：国家自然科学基金(82260031);甘肃省自然科学基金(21JR11RA186);甘肃省青年科技基金(20JR10RA415);甘肃省院内科研基金项目(21GSSYB-8,20GSSY5-2)。

摘　　要：目的:探索在不同距离5G网络环境下国产图迈^(®)手术机器人在远程动物手术中的可行性、安全性及稳定性。^(®)方法:将6头实验用标准猪随机分为6组,使用国产图迈手术机器人在5G网络环境下从甘肃省6个地区分别对位于甘肃省人民医院动物手术室的6头实验猪实施远程胆囊切除手术。对实验过程中的网络速率、网络延迟、调试时间、装机时间、手术时间、失血量、不良事件和术中并发症进行记录。结果:本次实验历时15 d完成,累计往返距离超过3000km,最远的手术直线距离约为780km,6台远程动物胆囊切除手术均在5G网络环境下顺利完成。平均网络延迟为(55.16±25.33)ms,平均调试时间为(65.17±13.75)min,平均装机时间为(5.12±1.60)min,平均机器人操控时间为(22.00±5.40)min,平均总手术时间为(44.00±4.23)min,平均失血量为(5.83±7.36)mL,术^(®)中发生弱网不良事件1次,无术中并发症发生。结论:5G网络环境下使用国产图迈手术机器人可以安全、稳定地进行远程动物手术,这为实现远程机器人临床手术奠定了理论基础。Objective:To explore the feasibility,safety and stability of the domestic Toumai^(®)surgical robot in remote animal experiments under different distances of 5G network environment.Methods:6 standard pigs were randomly divided into 6^(®)groups,and the Toumai surgical robot was used to perform remote cholecystectomy on experimental pigs located in the animal operating room of Gansu Provincial Hospital from 6 different locations in Gansu Province under 5G network environment.The network rate,network delay,debugging time,loading time,operative time,blood loss,adverse events and intraoperative complications were recorded.Results:The experiment lasted 15 days,with a cumulative round-trip distance of>3000 km,and the farthest surgical distance was about 780 km.6 remote animal cholecystectomies were successfully completed under 5G network environment,with the average network delay of(55.16±25.33)ms,the average commissioning time of(65.17±13.75)min,the average loading time of(5.12±1.60)min,the average robot manipulating time of(22.00±5.40)min,the average total operative time of(44.00±4.23)min,and the average blood loss of(5.83±7.36)mL.1 case of intraoperative weak network connection was found,but there was no intraoperative complications occurred.Conclusion:Remote animal surgery can be^(®)safely and stably performed using domestic Toumai surgical robot under 5G network environment,which provides a theoretical foundation for the remote robot-assisted surgery on human.

关 键 词：5G网络 机器人辅助手术 图迈手术机器人 动物实验 胆囊切除术 

分 类 号：R608[医药卫生—外科学] R656[医药卫生—临床医学]