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基于光纤的动态范围力传感器,用于组织触摸.

Abu Bakar Dawood1, Vamsi Krishna Chavali1, Thomas Mack1

  • 1School of Engineering and Materials Science, Queen Mary University of London, London, United Kingdom.

Frontiers in robotics and AI
|November 26, 2024
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概括

这项研究引入了一种用于微创手术的新型传感器,提供可调节的刚度和触觉反. 该设备增强了触觉感应能力,这对于外科精确度和组织分化至关重要.

关键词:
动态范围强力传感器 动态范围强力传感器纤维光学传感器传感器微创手术是最少的侵入性手术.有光学传感器的感应器.软力传感器是一种软力传感器.组织触摸是组织的触摸.

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科学领域:

  • 生物医学工程 生物医学工程
  • 手术技术 手术技术
  • 触觉反系统是一种触觉反系统.

背景情况:

  • 触觉信息对于手术表面表征和组织分化至关重要.
  • 最少侵入性外科手术 (MIS) 面临挑战,原因是外科医生的访问限制和触觉反减少.
  • 需要增强的触觉反来改善MIS的外科性能.

研究的目的:

  • 开发一种新的,可控制度的动力力范围传感器,用于远程触觉反.
  • 在最少侵入性的外科手术过程中,以提高触觉感知能力.
  • 为了研究传感器提供可调的力测量范围和估计组织度的能力.

主要方法:

  • 在圆顶内集成磨损光纤.
  • 利用光衰减变化由于纤维曲率的变化来感应力.
  • 通过修改内部圆顶压力来调整传感器刚度和力测量范围.
  • 用力测量和幻体刚度估计进行实验验证.

主要成果:

  • 传感器通过调整内部压力来证明了刚性可控性.
  • 增加的内部压力扩大了力测量范围 (在1 psi时高达8.83 N).
  • 传感器成功估计了幻影的弹性模块在8.58到165.32kPa的范围内.

结论:

  • 开发的传感器有效地提供度可控制的动态力范围传感.
  • 这项技术有可能在微创手术中恢复和增强触觉反.
  • 传感器测量力和估计度的能力为手术指导提供了有价值的数据.