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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Achieving Haptic Perception in Forceps’ Manipulator Using Pneumatic Artificial Muscle
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Achieving Haptic Perception in Forceps’ Manipulator Using Pneumatic Artificial Muscle

机译：使用气动人工肌肉实现镊子机械手的触觉感知

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摘要

Many minimally invasive surgical procedures are now performed using teleoperated robotic systems. However, such commercially available systems do not provide significant force feedback to the surgeon. This reduces surgeon''s dexterity and increases tissue trauma when performing the operation. In this paper, a compact and lightweight forceps’ manipulator using pneumatic artificial muscles (PAMs) for minimally invasive surgery is presented, which allows for the perception of manipulation force without the usage of the force sensor. The main advantage of this concept is that no force sensor has to be integrated into surgical instruments and inserted into the patient''s body. Rather, a disturbance observer is integrated into the slave-side controller for the estimation of the external force acting at the forcep''s tip. This approach reduces costs and stabilizability demands for forceps’ manipulator while enables haptic feedback to the surgeons. Results of force perception experiments and comparison with forceps’ manipulator driven by pneumatic cylinders are presented to validate the concepts.
机译：现在，使用遥控机器人系统执行许多微创手术程序。但是，这样的市售系统不能向外科医生提供显着的力反馈。在执行手术时，这会降低外科医生的灵活性并增加组织创伤。在本文中，提出了一种紧凑且轻巧的镊子操纵器，该操纵器使用气动人工肌肉（PAM）进行微创手术，无需使用力传感器即可感知操纵力。该概念的主要优点是无需将力传感器集成到手术器械中并插入患者体内。而是将干扰观察器集成到从属侧控制器中，以估计作用在镊子尖端的外力。这种方法减少了对镊子操纵器的成本和稳定性要求，同时能够向外科医生提供触觉反馈。提出了力感知实验的结果，并与气缸驱动的钳子机械手进行了比较，以验证这些概念。

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