机器人手术工具的力测量方法

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI:10.1109/ROMOCO.2005.201400

A. Wróblewska

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引用次数: 10

摘要

力反馈系统在微创手术中的解决方案尚处于试验阶段，尚未在实践中得到应用。本文介绍了现有的解决方案原型，不同的传感器布置方法和应用的测量方法。并提出了波兰手术机器人罗宾心脏的一种方法。这一问题的解决将使外科医生有机会估计所处理器官的硬度，并确保外科医生在执行手术时不断检查。

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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Methods of the force measurement for robotic surgical tools

Resolution of force feedback system in MIS (minimally invasive surgery) is at the stage of examinations and there has been no application in practice so far. The article presents existing prototypes of solutions differing with the method of the arrangement of sensors and the kind of applied measuring method. Also a method for the Polish surgery robot Robin Heart was proposed. The solution to this problem will deliver surgeons the chance of the estimation of the handled organ rigidity and will ensure the constant check-up when executing the operation by surgeons.

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来源期刊

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.

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