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A Novel Tool for Force/Torque Sensing in Robotic Surgery

机译：机器人手术中力/扭矩传感的新型工具

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摘要

Minimally invasive surgery has drastically changed modern day surgery,and has become the standard for various procedures.MIS however has its own difficulties,and as a result,has seen robotic surgery rise in popularity over recent years.It is yet to be seen whether robotic surgery will cause another major paradigm shift,as these systems still require large costs,take up too much space,have an unclear cost benefit,and provide little or no force feedback.This paper presents a surgical tool for force/torque sensing,and uses a novel overcoat method to deal with sensor corruption at the trocar.A static analysis was conducted to compare force feedback accuracy when using a surgical tool with and without an overcoat.The former resulted in errors of 2％ or lower,where the latter introduced errors up to 238％.
机译：微创手术已彻底改变了现代手术，并已成为各种手术的标准。然而，MIS有其自身的困难，因此，近年来机器人手术的普及率不断上升。手术将引起另一个重大的范式转变，因为这些系统仍然需要大量成本，占用过多空间，成本效益尚不清楚，并且几乎没有力反馈或没有力反馈。本文介绍了一种用于力/扭矩传感的手术工具，一种用于处理套管针传感器损坏的新颖外套方法。进行了静态分析，比较了使用带或不带有外套的手术工具时力反馈的准确性。前者的误差为2％或更低，而后者的误差为2％或更低。高达238％。

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  • 来源
  • 会议地点 Tianjin(CN)
  • 作者

    W.Schwalb; B.Shirinzadeh; Y.Qin; J.Smith;

  • 作者单位

    Robotics and Mechatronics Research Laboratory, Department of Mechanical and Aerospace Engineering, Monash University, Melbourne;

    Robotics and Mechatronics Research Laboratory, Department of Mechanical and Aerospace Engineering, Monash University, Melbourne;

    Robotics and Mechatronics Research Laboratory, Department of Mechanical and Aerospace Engineering, Monash University, Melbourne;

    School of Surgery, Monash University, Melbourne, Australia;

  • 会议组织
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 TH15;
  • 关键词

    robotic surgery; surgical tool; force/torque feedback; haptics;

    机译：机器人手术;手术工具;力/扭矩反馈;触觉;

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