一种用于微创手术的多模态形状和接触力传感的软连续体机器人

Max McCandless, Frank Juliá Wise, S. Russo
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引用次数: 0

摘要

微创手术(MIS),如介入内窥镜检查和单切口腹腔镜检查,为提高患者安全性、减少术后并发症和缩短恢复时间铺平了道路[1]。软机器人固有的顺应性使它们适合解决当前MIS中的限制,例如刚性机器人设备缺乏灵活性;然而,软体机器人往往缺乏足够的形状和接触传感,这使得它们难以控制[2],[3]。腹腔镜手术工具的未来正朝着灵活和柔软的机器人解决方案发展,以更安全地与人体组织相互作用[4]。然而,新开发的技术缺乏有效的嵌入式传感[5]。这项工作提出了一个全软机器人,它结合了i)用于尖端跟踪和接触力传感的软光学传感多模态夹持器和ii)集成3D形状传感的多向弯曲模块(图1,a-b)。夹持器嵌入了两个软气动致动器来部署爪部,两个软气动致动器来控制抓取,以及两个全软光波导传感器(WG)(每个爪部一个),其粗糙度可调,以监测致动器尖端的位置和随后对物体的接触力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Soft Continuum Robot with Multi-Modal Shape and Contact Force Sensing for Minimally Invasive Surgery
Minimally invasive surgery (MIS), e.g., interventional endoscopy and single-incision laparoscopy, has paved the way toward increased patient safety, fewer postop- erative complications, and shorter recovery times [1]. The inherent compliant nature of soft robots makes them suitable for addressing current limitations in MIS, such as the lack of dexterity of rigid robotic devices; however, soft robots often lack adequate shape and contact sensing which makes them difficult to control [2], [3]. The future of laparoscopic surgical tools is moving toward flexible and soft robotic solutions for safer interaction with hu- man tissue [4]. However, newly developed technologies lack effective embedded sensing [5]. This work presents a fully soft robot combining i) a soft optical sensorized multi-modal gripper for tip tracking and contact force sensing with ii) a multi-directional bending module with integrated 3D shape sensing (Fig. 1, a-b). The gripper embeds two soft pneumatic actuators to deploy the jaws, two soft pneumatic actuators to control grasping, and two fully soft optical waveguide sensors (WG) (one in each jaw) with tuned roughness to monitor both actuator tip positions and subsequent contact force on an object.
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