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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Safety Operation Consciousness Realization of a MR Fluids-Based Novel Haptic Interface for Teleoperated Catheter Minimally Invasive Neurosurgery
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Safety Operation Consciousness Realization of a MR Fluids-Based Novel Haptic Interface for Teleoperated Catheter Minimally Invasive Neurosurgery

机译：基于MR流体的新型导管轻触式微创神经外科触觉界面的安全操作意识实现。

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摘要

In catheter minimally invasive neurosurgery (CMINS), catheter tip collision with the blood vessel detection during the surgery practice is important. Moreover, successful CMINS is dependent on the discrimination of collision by a skilled surgeon in direct operation. However, in the context of teleoperated scenario, the surgeon was physically separated. Therefore, the lack of haptic sensation is a major challenge for a telesurgery scenario. A human operator-centered haptic interface is adopted to address this problem. In this paper, a teleoperated robotic-assisted surgery and psychophysics-based safety operation consciousness theory was presented. Moreover, a human operator-centered haptic interface design concept is first introduced into actuator choice and design. A semiactive haptic interface was designed and fabricated through taking full advantage of MR fluids. Furthermore, a mechanical model (force/torque model) was established. In addition, in case of no collision, transparency of a teleoperated system was realized; in case of collision, psychophysics-based collision discrimination control scheme was first presented to provide safety operation consciousness. Experiments demonstrate the usability of the designed haptic interface and correctness of the safety operation consciousness control scheme.
机译：在导管微创神经外科手术（CMINS）中，在手术过程中导管尖端与血管检测的碰撞很重要。此外，成功的CMINS取决于熟练的外科医生在直接手术中对碰撞的区分。但是，在远程操作的情况下，外科医生物理上是分开的。因此，缺乏触觉感是远程手术方案的主要挑战。采用以操作员为中心的触觉界面来解决该问题。本文提出了一种基于遥操作的机器人辅助手术和基于心理物理学的安全操作意识理论。此外，首先将以操作员为中心的触觉界面设计概念引入执行器的选择和设计中。通过充分利用MR流体来设计和制造半主动触觉界面。此外，建立了机械模型（力/扭矩模型）。另外，在没有碰撞的情况下，实现了远程操作系统的透明性；在发生碰撞的情况下，首先提出了基于心理物理学的碰撞识别控制方案，以提供安全操作意识。实验证明了所设计的触觉界面的可用性和安全操作意识控制方案的正确性。

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