Grundfest Warren S, Culjat Martin O, King Chih-Hung, Franco Miguel L, Wottawa Christopher, Lewis Catherine E, Bisley James W, Dutson Erik P
UCLA Center for Advanced Surgical and Interventional Technology, LA, CA, USA.
Stud Health Technol Inform. 2009;142:103-8.
A tactile feedback system has been developed using silicone-based pneumatic balloon actuators and piezoelectric force sensors, paired with a pneumatic control system. This system has been fitted directly onto the da Vinci surgical robotic system, allowing the forces applied at the robotic end-effectors to be felt on the fingers of surgeons or other system operators. Preliminary system tests have been performed to evaluate the efficacy of the system and to validate the tactile feedback approach. The actuators and pneumatic system had a sufficiently low footprint such that they did not hinder movements during surgical task performance. Preliminary studies using a pressure-indicating phantom suggested that grip force may be reduced with direct tactile-to-tactile feedback. An additional study found that a six element tactile sensing array can effectively provide spatial information to the fingers. The results of these studies are summarized in this paper.
一种触觉反馈系统已利用基于硅酮的气动气球致动器和压电力传感器，并与气动控制系统配合开发出来。该系统已直接安装在达芬奇手术机器人系统上，使机器人末端执行器施加的力能被外科医生或其他系统操作员的手指感知到。已进行了初步系统测试，以评估该系统的功效并验证触觉反馈方法。致动器和气动系统占用空间足够小，以至于在执行手术任务期间不会妨碍动作。使用压力指示模型的初步研究表明，直接的触觉对触觉反馈可能会降低握力。另一项研究发现，一个六元素触觉传感阵列可以有效地向手指提供空间信息。本文总结了这些研究结果。
