用于机器人辅助腹腔镜手术的无传感器力反馈系统。

IF 1.5 4区医学 Q3 SURGERY

Computer Assisted Surgery Pub Date : 2019-01-01 DOI:10.1080/24699322.2018.1560084

Baoliang Zhao, C. Nelson

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引用次数: 1

摘要

现有的腹腔镜手术机器人不提供或只提供有限的力反馈，传统的基于传感器的解决方案存在许多问题。本文构建了一个远程手术系统，并验证了无传感器力反馈的有效性。利用驱动电机的电流估计手术刀刀尖处的工具-组织相互作用力，并通过位置-力双边控制算法反馈给主机器人。进行了刚度鉴别实验和肿瘤检测实验。在刚度区分实验中，45对排序关系中有43对被正确识别，成功率为96%。在肿瘤检测实验中，5名参与者中有4人通过力反馈识别出了正确的肿瘤位置，成功率为80%。提出的用于机器人辅助腹腔镜手术的无传感器力反馈系统可以帮助外科医生恢复触觉信息并区分健康组织和癌变组织。

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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A sensorless force-feedback system for robot-assisted laparoscopic surgery.

The existing surgical robots for laparoscopic surgery offer no or limited force feedback, and there are many problems for the traditional sensor-based solutions. This paper builds a teleoperation surgical system and validates the effectiveness of sensorless force feedback. The tool-tissue interaction force at the surgical grasper tip is estimated using the driving motor's current, and fed back to the master robot with a position-force bilateral control algorithm. The stiffness differentiation experiment and tumor detection experiment were conducted. In the stiffness differentiation experiment, 43 out of 45 pairs of ranking relationships were identified correctly, yielding a success rate of 96%. In the tumor detection experiment, 4 out of 5 participants identified the correct tumor location with force feedback, yielding a success rate of 80%. The proposed sensorless force-feedback system for robot-assisted laparoscopic surgery can help surgeons regain tactile information and distinguish between the healthy and cancerous tissue.

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来源期刊

Computer Assisted Surgery Medicine-Surgery

CiteScore

2.30

自引率

0.00%

发文量

审稿时长

10 weeks

期刊介绍： omputer Assisted Surgery aims to improve patient care by advancing the utilization of computers during treatment; to evaluate the benefits and risks associated with the integration of advanced digital technologies into surgical practice; to disseminate clinical and basic research relevant to stereotactic surgery, minimal access surgery, endoscopy, and surgical robotics; to encourage interdisciplinary collaboration between engineers and physicians in developing new concepts and applications; to educate clinicians about the principles and techniques of computer assisted surgery and therapeutics; and to serve the international scientific community as a medium for the transfer of new information relating to theory, research, and practice in biomedical imaging and the surgical specialties. The scope of Computer Assisted Surgery encompasses all fields within surgery, as well as biomedical imaging and instrumentation, and digital technology employed as an adjunct to imaging in diagnosis, therapeutics, and surgery. Topics featured include frameless as well as conventional stereotactic procedures, surgery guided by intraoperative ultrasound or magnetic resonance imaging, image guided focused irradiation, robotic surgery, and any therapeutic interventions performed with the use of digital imaging technology.