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相关实验视频

Updated: Jan 18, 2026

Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy
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机器人辅助内血管导管治疗的被动触觉接口.

Yu Song1, Yu Tian1, Liutao Li1

  • 1The School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin, 300384, China.

Medical & biological engineering & computing
|May 26, 2025
PubMed
概括
此摘要是机器生成的。

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这项研究引入了一种具有触觉反的新型主机器人,用于血管干预手术. 它恢复了外科医生的触觉,在机器人手术过程中增强了手术的存在和精确性.

科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 医疗工程 医学工程
  • 手术技术 手术技术

背景情况:

  • 主-奴隶手术机器人最大限度地减少了外科医生的辐射暴露.
  • 目前的系统缺乏触觉反,减少了外科医生的存在感和触觉.
  • 这种差距限制了机器人辅助血管干预的有效性.

研究的目的:

  • 开发一个具有集成触觉反的主机器人,用于血管干预手术.
  • 在机器人操纵过程中恢复外科医生的触觉.
  • 为了提高外科手术的准确性和精确性,在最少的侵入性手术.

主要方法:

  • 开发了一种包含基于磁力流体的触觉接口的主机器人.
  • 利用磁场模拟分析来优化触觉界面参数.
  • 实施了闭环控制策略,使用磁场阻力预测模型来控制触觉力.
  • 这种奴隶机器人具有双线导体,用于精确的导管/导线输送.

主要成果:

  • 开发的主机器人成功地向外科医生提供了被动的触觉反.
  • 磁场模拟优化了触觉接口参数.
  • 闭环控制策略有效地管理了触觉力.
关键词:
磁体浮动学流体 磁体浮动学流体触觉界面是一个触觉界面.进行血管干预的机器人.

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Last Updated: Jan 18, 2026

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  • 实验验证证了该系统满足外科医生对触觉反的需求.

    • 结论:

    • 具有触觉反的新型主机器人显著改善了血管干预手术的外科经验.
    • 恢复触觉可以增强外科医生的控制和存在.
    • 开发的系统显示出良好的适用性和推进机器人手术的潜力.