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首页> 外文会议>International Conference on Medical Image Computing and Computer-Assisted Intervention(MICCAI 2005) pt.2; 20051026-29; Palm Spring,CA(US) >Contact Force Measurement of Instruments for Force-Feedback on a Surgical Robot: Acceleration Force Cancellations Based on Acceleration Sensor Readings
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Contact Force Measurement of Instruments for Force-Feedback on a Surgical Robot: Acceleration Force Cancellations Based on Acceleration Sensor Readings

机译：手术机器人上的力反馈仪器的接触力测量：基于加速度传感器读数的加速度抵消

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摘要

For delicate operations conducted using surgical robot systems, surgeons need to receive information regarding the contact forces on the tips of surgical instruments. For the detection of this contact force, one of the authors previously proposed a new method, called the overcoat method, in which the instrument is supported by sensors positioned on the overcoat pipe. This method requires cancellation of the acceleration forces of the instrument/holder attached to the overcoat sensor. In the present report, the authors attempt to use acceleration sensors to obtain the acceleration forces of the instrument/holder. The new cancellation method provides a force-detection accuracy of approximately 0.05-0.1 N for a dynamic response range of up to approximately 20 Hz, compared to approximately 1 Hz, which was achieved by using acceleration forces based on the theoretical robot motion.
机译：对于使用手术机器人系统进行的精细操作，外科医生需要接收有关在手术器械尖端上的接触力的信息。为了检测该接触力，一位作者先前提出了一种新方法，称为外涂层法，其中该仪器由位于外涂层管上的传感器支撑。该方法需要抵消附着在外涂层传感器上的仪器/支架的加速力。在本报告中，作者试图使用加速度传感器来获得仪器/支架的加速度。新的抵消方法在高达20 Hz的动态响应范围内提供了大约0.05-0.1 N的力检测精度，相比之下，大约1 Hz的动态响应范围是通过使用基于理论机器人运动的加速力实现的。

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