一个模块化的3度自由力传感器用于机器人辅助的微创手术研究
Zonghe Chua1, Allison M Okamura2
1Department of Electrical, Computer and Systems Engineering, Case Western Reserve University, 10900 Euclid Avenue, Glennan Building 514A, Cleveland, OH 44106, USA.
Sensors (Basel, Switzerland)
|June 10, 2023
概括
研究人员开发了一种模块化的3度自由度 (3DoF) 力传感器,用于机器人辅助手术. 这种开源设计增强了力量控制和触觉反在微妙的组织操纵.
科学领域:
- 机器人和自动化 机器人和自动化
- 手术技术 手术技术
- 生物医学工程 生物医学工程
背景情况:
- 有效的力量调制对于安全的机器人辅助微创手术 (RMIS) 至关重要.
- 现有的RMIS力传感器在准确性,可制造性和集成性之间面临着权衡,导致缺乏商业现成的3度自由 (3DoF) 选项.
- 这种差距阻碍了对双手远程手术操纵的先进传感和触觉反的发展.
研究的目的:
- 介绍一款新的模块化3DoF力传感器,旨在轻松与现有RMIS工具集成.
- 通过放松生物相容性要求和使用商业部件来克服以前设计的局限性.
- 为了使RMIS中微妙组织操纵能够改善力控制和触觉反.
主要方法:
- 开发了一个模块化的3DoF力传感器,使用商业载荷电池和标准的电机械制造技术.
- 将传感器与现有的RMIS工具集成,放松生物相容性和灭菌性等体内应用要求.
- 在远程操纵任务中测试了传感器在力测量准确性和误差幅度方面的性能.
主要成果:
- 传感器实现了轴向 ±5 N 和侧向 ±3 N 的力测量范围.
- 轴向和侧向力误差低于0.15N,最大误差低于传感范围的11%.
- 在远程操纵过程中,安装在上的传感器显示平均误差低于0.15N,平均抓力误差为0.156N.
结论:
- 开发的模块化3DoF力传感器为增强RMIS中的力控制和触觉反提供了实用解决方案.
- 它的开源设计允许适应RMIS以外的其他机器人应用程序.
- 这种传感器促进了双手触觉反和机器人力量控制在微妙的外科手术程序的进步.
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