一种用于机器人手术的集成式气动触觉反馈致动器阵列。
An integrated pneumatic tactile feedback actuator array for robotic surgery.
作者信息
Franco Miguel L, King Chih-Hung, Culjat Martin O, Lewis Catherine E, Bisley James W, Holmes E Carmack, Grundfest Warren S, Dutson Erik P
机构信息
Center for Advanced Surgical and Interventional Technology, University of California at Los Angeles, CA, USA.
出版信息
Int J Med Robot. 2009 Mar;5(1):13-9. doi: 10.1002/rcs.224.
BACKGROUND
A pneumatically controlled balloon actuator array has been developed to provide tactile feedback to the fingers during robotic surgery.
METHODS
The actuator and pneumatics were integrated onto a robotic surgical system. Potential interference of the inactive system was evaluated using a timed robotic peg transfer task. System performance was evaluated by measuring human perception of the thumb and index finger.
RESULTS
No significant difference was found between performance with and without the inactive mounted actuator blocks. Subjects were able to determine inflation location with > 95% accuracy and five discrete inflation levels with both the index finger and thumb with accuracies of 94% and 92%. Temporal tests revealed that an 80 ms temporal separation was sufficient to detect balloon stimuli with high accuracy.
CONCLUSIONS
The mounted balloon actuators successfully transmitted tactile information to the index finger and thumb, while not hindering performance of robotic surgical movements.
背景
已开发出一种气动控制的气囊致动器阵列，用于在机器人手术期间向手指提供触觉反馈。
方法
将致动器和气动装置集成到机器人手术系统上。使用定时机器人插销转移任务评估非活动系统的潜在干扰。通过测量人类对拇指和食指的感知来评估系统性能。
结果
安装有非活动致动器块和未安装时的性能之间未发现显著差异。受试者能够以超过95%的准确率确定充气位置，食指和拇指对于五个离散充气水平的准确率分别为94%和92%。时间测试表明，80毫秒的时间间隔足以高精度地检测气囊刺激。
结论
安装的气囊致动器成功地将触觉信息传递给食指和拇指，同时不妨碍机器人手术动作的执行。
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