一种用于视网膜微创手术的亚毫米、0.25 毫牛分辨率的全集成光纤测力工具。
A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery.
机构信息
Johns Hopkins University, CSEB 112, Baltimore, MD 21218, USA.
出版信息
Int J Comput Assist Radiol Surg. 2009 Jun;4(4):383-90. doi: 10.1007/s11548-009-0301-6. Epub 2009 Apr 15.
PURPOSE
Retinal microsurgery requires extremely delicate manipulation of retinal tissue where tool-to-tissue interaction forces are usually below the threshold of human perception. Creating a force-sensing surgical instrument that measures the forces directly at the tool tip poses great challenges due to the interactions between the tool shaft and the sclerotomy opening.
METHODS
We present the design and analysis of a force measurement device that senses distal forces interior to the sclera using 1-cm long, 160 microm diameter Fiber Bragg Grating (FBG) strain sensors embedded in a 0.5 mm diameter tool shaft. Additionally, we provide an algorithm developed to cancel the influence of environmental temperature fluctuations.
RESULTS
The force-sensing prototype measures forces with a resolution of 0.25 mN in 2 DOF while being insensitive to temperature.
CONCLUSION
Sub-millinewton resolution force sensors integrated into microsurgical instruments are feasible and have potential applications in both robotic and freehand microsurgery.
目的
视网膜显微手术需要对视网膜组织进行极其精细的操作，而工具与组织之间的相互作用力通常低于人类感知的阈值。由于工具轴和巩膜切口之间的相互作用，创建一种能够在工具尖端直接测量力的测力手术器械具有很大的挑战性。
方法
我们提出了一种力测量装置的设计和分析，该装置使用嵌入在 0.5 毫米直径工具轴中的 1 厘米长、160 微米直径的光纤布拉格光栅（FBG）应变传感器来感测巩膜内部的远端力。此外，我们还提供了一种开发的算法，用于消除环境温度波动的影响。
结果
力感测原型在 2 自由度下以 0.25mN 的分辨率测力，同时对温度不敏感。
结论
集成到显微手术器械中的亚毫牛顿分辨率力传感器是可行的，并且在机器人和徒手显微手术中具有潜在的应用。
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