五自由度接触式力传感甲状腺手术中滑移抑制机器人辅助后收。

IF 2.6 4区医学 Q2 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Medical & Biological Engineering & Computing Pub Date : 2025-07-24 DOI:10.1007/s11517-025-03420-z

Shouhui Deng, Haojun Li, Yuxuan Lin, Aiguo Song, Lifeng Zhu

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引用次数: 0

摘要

甲状腺结节经常需要手术干预，传统的牵开器可能由于长时间使用而造成肌肉损伤。本研究介绍了一种用于甲状腺手术的滑移抑制机器人系统，该系统具有保形力和扭矩传感模块，并集成了机器人机械手，用于柔性力控制。该系统采用五维（5DoF）接触式力传感，实现精确的力测量，相对误差≤1.5%。在人体和猪组织上进行的实验表明，该系统能够有效地抑制滑动，确保可靠的力反馈，并提高甲状腺手术的安全性和准确性。

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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Slippage-suppression robot-assisted retraction for thyroid surgery with 5DoF contact force sensing.

Thyroid nodules often necessitate surgical intervention, where traditional retractors may cause muscle damage due to prolonged use. This study introduces a slippage-suppression robotic system for thyroid surgery, featuring a conformal force and torque sensing module integrated with a robotic manipulator for compliant force control. The system features five-dimensional (5DoF) contact force sensing, achieving accurate force measurement with a relative error of $\leq 1.5 %$ . Experiments performed on phantoms and porcine tissues demonstrate the system's ability to suppress slippage effectively, ensure reliable force feedback, and improve safety and precision during thyroid surgery.

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来源期刊

Medical & Biological Engineering & Computing 医学-工程：生物医学

CiteScore

6.00

自引率

3.10%

发文量

249

审稿时长

3.5 months

期刊介绍： Founded in 1963, Medical & Biological Engineering & Computing (MBEC) continues to serve the biomedical engineering community, covering the entire spectrum of biomedical and clinical engineering. The journal presents exciting and vital experimental and theoretical developments in biomedical science and technology, and reports on advances in computer-based methodologies in these multidisciplinary subjects. The journal also incorporates new and evolving technologies including cellular engineering and molecular imaging. MBEC publishes original research articles as well as reviews and technical notes. Its Rapid Communications category focuses on material of immediate value to the readership, while the Controversies section provides a forum to exchange views on selected issues, stimulating a vigorous and informed debate in this exciting and high profile field. MBEC is an official journal of the International Federation of Medical and Biological Engineering (IFMBE).