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A force-sensing retractor for robot-assisted transoral surgery
Lifeng Zhu1, Shuyan Yang2, Jiangwei Shen2
1The State Key Laboratory of Bioelectronics, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Sipailou 2, Nanjing, 210096, Jiangsu, China. lfzhulf@gmail.com.
Summary
This study introduces a novel force-sensing retractor for robot-assisted transoral surgery. The new device provides crucial force feedback, enhancing safety and control during procedures.
Area of Science:
- Robotics
- Surgical Technology
- Biomedical Engineering
Background:
- Robot-assisted transoral surgery requires frequent tissue retraction.
- Current retractors lack force-sensing capabilities, posing risks.
- Sensing touching force is crucial for safe surgical manipulation.
Purpose of the Study:
- To develop an integrated force-sensing retractor for robot-assisted transoral surgery.
- To enable real-time force feedback during retraction procedures.
- To enhance safety and precision in transoral robotic surgery.
Main Methods:
- Designed a retractor with integrated piezoresistive force sensors.
- Developed a system to decode resultant force and contact location.
- Calibrated the sensory system for accurate measurements.
Main Results:
- The force-sensing retractor accurately measured forces up to 15 N.
- Achieved high force sensing precision of 0.08 N.
- The integrated sensory system maintained compact dimensions suitable for the retractor.
Conclusions:
- The proposed force-sensing retractor shows significant potential for robot-assisted surgery.
- Enables interactive manipulation with force feedback.
- Provides valuable haptic information for teleoperated surgical systems.
