Dynamic Force Sensing for Continuous Scraping Towards Endometrium Repair Surgery

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-01-27 DOI:10.1002/rcs.70045

Jie Li, Zhenguo Yang, Dingjia Li, Chongyang Wang, Ji Shen, Chao Han, Xing Xin, Weiqun Wang, Jichun Tan, Hao Liu

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引用次数: 0

Abstract

Background

A surgical robot with force feedback can guarantee precise and gentle manipulation for endometrial repair, ensuring the effectiveness and safety of the manipulation. However, the design of force sensors for surgical robots is challenging due to the limited anatomical space and the requirement for continuous rotation.

Methods

This paper presents a novel force-sensing surgical instrument for endometrial repair, including an inner scraping instrument and an outer force sensing sheath. It utilises the actuation force of the outer flexible sheath to predict real-time tangential and normal forces of the scraping to the endometrium surface. Experiments are conducted to test its force sensing accuracy.

Results

This paper simulated three types of operations with different tangential force thresholds and obtained the mean error with the standard deviation.

Discussion

This sensing method enables real-time and accurate measurement of the dynamic scraping force between the rotating instrument and the tissue.

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背景：具有力反馈功能的手术机器人可以保证子宫内膜修复手术操作的精确性和轻柔性，确保手术的有效性和安全性。然而，由于解剖空间有限和连续旋转的要求，手术机器人力传感器的设计具有挑战性：本文介绍了一种用于子宫内膜修复的新型力传感手术器械，包括一个内刮刀和一个外力传感鞘。方法：本文介绍了一种用于子宫内膜修复的新型力传感手术器械，包括内层刮宫器械和外层力传感鞘，它利用外层柔性鞘的驱动力来实时预测刮宫器械对子宫内膜表面的切向力和法向力。实验测试了其力感应的准确性：本文模拟了三种不同切向力阈值的操作，并得出了平均误差和标准偏差：讨论：这种传感方法可实时、准确地测量旋转仪器与组织之间的动态刮宫力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.