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Force feedback in surgery: Physical constraints and haptic information.

机译：手术中的力反馈：身体限制和触觉信息。

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摘要

Force feedback is widely assumed to enhance performance in robotic surgery, but its benefits have not yet been systematically assessed. Further, the cost of force sensors that allow force feedback is prohibitive, due to the stringent specifications imposed by the surgical environment. We address both sides of this cost benefit analysis of force feedback by investigating the specific benefits allowed by force feedback and by proposing a novel force sensor design.;We demonstrate the benefit of force feedback in surgery through a series of psychophysical experiments. By investigating performance on tasks with and without force feedback, we find that the primary benefit of force feedback is that interaction forces are reduced. This results in an increase in patient safety, because high forces correlate directly with tissue trauma. Two mechanisms enable force reduction and other benefits: (1) force feedback transforms environmental interaction forces into mechanical constraints and (2) forces act as a source of information. Mechanical constraints passively reduce intrusions into environmental structures (and, thereby, forces) due to the interactions between hand compliance and environment stiffness. Because this benefit is passive, it happens without a cognitive response. Accordingly, these benefits occur instantaneously, on the time scale of mechanical interactions. Force feedback also allows additional manipulation strategies that take advantage of these physical interactions, potentially reducing mental workload of the surgeon. We also find that force feedback provides information to the surgeon. While the number of ways that forces can potentially inform surgeons is large, the interaction between training and other sources of information is complex. We find that training is necessary, in some contexts, to take full advantage of the informational benefits of force feedback in surgery.;We propose a three axis force sensor design using strain gages and Shape Deposition Manufacturing (SDM), where components are embedded inside a pourable epoxy. The resulting sensor (+/-2 N range, 0.15 RMS calibration error, 0.15 N drift over five minutes) is small enough for minimally invasive surgery, waterproof, and temperature insensitive. Adapting the SDM design for mass production is straightforward (sensors are cast inreusable molds), resulting in high performance, low cost, disposable sensors.
机译：人们普遍认为，力反馈可以提高机器人手术的性能，但是其益处尚未得到系统的评估。此外，由于手术环境所施加的严格规范，允许力反馈的力传感器的成本是过高的。我们通过研究力反馈允许的特定利益并提出新颖的力传感器设计，来解决力反馈成本收益分析的两个方面。我们通过一系列心理物理实验证明了力反馈在手术中的益处。通过调查在有和没有力反馈的情况下的性能，我们发现力反馈的主要好处是可以减少交互作用力。由于高作用力直接与组织创伤有关，因此提高了患者的安全性。有两种机制可以减少压力并带来其他好处：（1）力反馈将环境相互作用力转换为机械约束，并且（2）力充当信息源。由于手的顺应性和环境刚度之间的相互作用，机械约束被动地减少了对环境结构的侵入（从而减少了受力）。因为这种好处是被动的，所以它不会产生认知反应。因此，这些好处是在机械相互作用的时间尺度上瞬间产生的。力反馈还允许利用这些物理相互作用的其他操纵策略，从而可能减少外科医生的精神工作量。我们还发现力反馈为外科医生提供了信息。尽管部队可以潜在地告知外科医生的方法很多，但培训与其他信息来源之间的相互作用却很复杂。我们发现，在某些情况下，有必要进行培训以充分利用手术中力反馈的信息优势。;我们提出了一种使用应变计和形状沉积制造（SDM）的三轴力传感器设计，其中组件嵌入其中可浇注的环氧树脂。最终的传感器（+/- 2 N范围，0.15 RMS校准误差，五分钟内0.15 N漂移）足够小，足以进行微创手术，防水且对温度不敏感。使SDM设计适应大规模生产非常简单（传感器是铸造成不可重复使用的模具），从而产生了高性能，低成本的一次性传感器。

著录项

  • 作者

    Wagner, Christopher Robert.;

  • 作者单位

    Harvard University.;

  • 授予单位 Harvard University.;
  • 学科 Engineering Biomedical.;Engineering Electronics and Electrical.;Health Sciences Medicine and Surgery.
  • 学位 Ph.D.
  • 年度 2006
  • 页码 122 p.
  • 总页数 122
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 生物医学工程;无线电电子学、电信技术;
  • 关键词

  • 入库时间 2022-08-17 11:40:09

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