Lee Duk-Hee, Choi Jaesoon, Park Jun-Woo, Bach Du-Jin, Song Seung-Jun, Kim Yoon-Ho, Jo Yungho, Sun Kyung
Biomedical Engineering Branch, Research Institute, National Cancer Center, Gyeonggi, Korea.
ASAIO J. 2009 Jan-Feb;55(1):83-5. doi: 10.1097/MAT.0b013e31819018e7.
Despite the rapid progress in the clinical application of laparoscopic surgery robots, many shortcomings have not yet been fully overcome, one of which is the lack of reliable haptic feedback. This study implemented a force-feedback structure in our compact laparoscopic surgery robot. The surgery robot is a master-slave configuration robot with 5 DOF (degree of freedom corresponding laparoscopic surgical motion. The force-feedback implementation was made in the robot with torque sensors and controllers installed in the pitch joint of the master and slave robots. A simple dynamic model of action-reaction force in the slave robot was used, through which the reflective force was estimated and fed back to the master robot. The results showed the system model could be identified with significant fidelity and the force feedback at the master robot was feasible. However, the qualitative human assessment of the fed-back force showed only limited level of object discrimination ability. Further developments are underway with this result as a framework.
尽管腹腔镜手术机器人在临床应用方面取得了快速进展，但许多缺点尚未得到充分克服，其中之一是缺乏可靠的触觉反馈。本研究在我们的紧凑型腹腔镜手术机器人中实现了一种力反馈结构。该手术机器人是一种主从配置机器人，具有5个自由度（对应腹腔镜手术动作的自由度）。力反馈是通过在主从机器人的俯仰关节中安装扭矩传感器和控制器来实现的。使用了一个简单的从机器人中作用力与反作用力的动态模型，通过该模型估计反射力并反馈给主机器人。结果表明，系统模型能够以较高的保真度进行识别，并且主机器人处的力反馈是可行的。然而，对反馈力的定性人体评估显示，其物体辨别能力水平有限。以此结果为框架，进一步的研发正在进行中。
