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本文引用的文献

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Force sensing micro-forceps for robot assisted retinal surgery.用于机器人辅助视网膜手术的力传感微型镊子。
Annu Int Conf IEEE Eng Med Biol Soc. 2012;2012:1401-4. doi: 10.1109/EMBC.2012.6346201.
2
A force-sensing microsurgical instrument that detects forces below human tactile sensation.一种能够检测到人触觉以下力的力感测微创手术器械。
Retina. 2013 Jan;33(1):200-6. doi: 10.1097/IAE.0b013e3182625d2b.
3
Miniature fiber-optic force sensor based on low-coherence Fabry-Pérot interferometry for vitreoretinal microsurgery.基于低相干法布里-珀罗干涉测量术的用于玻璃体视网膜显微手术的微型光纤力传感器。
Biomed Opt Express. 2012 May 1;3(5):1062-76. doi: 10.1364/BOE.3.001062. Epub 2012 Apr 19.
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Visual force feedback in laparoscopic training.腹腔镜培训中的视觉力反馈。
Surg Endosc. 2012 Jan;26(1):242-8. doi: 10.1007/s00464-011-1861-4. Epub 2011 Aug 20.
5
New Steady-Hand Eye Robot with Micro-Force Sensing for Vitreoretinal Surgery.用于玻璃体视网膜手术的新型带微力传感的稳手眼机器人
Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2010 Sep 1;2010(26-29):814-819. doi: 10.1109/BIOROB.2010.5625991.
6
Micro-force sensing in robot assisted membrane peeling for vitreoretinal surgery.用于玻璃体视网膜手术的机器人辅助膜剥离中的微力传感
Med Image Comput Comput Assist Interv. 2010;13(Pt 3):303-10. doi: 10.1007/978-3-642-15711-0_38.
7
A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery.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。
Int J Comput Assist Radiol Surg. 2009 Jun;4(4):383-90. doi: 10.1007/s11548-009-0301-6. Epub 2009 Apr 15.
8
The role of haptic feedback in laparoscopic simulation training.触觉反馈在腹腔镜模拟训练中的作用。
J Surg Res. 2009 Oct;156(2):312-6. doi: 10.1016/j.jss.2009.04.018. Epub 2009 May 14.
9
The value of haptic feedback in conventional and robot-assisted minimal invasive surgery and virtual reality training: a current review.触觉反馈在传统及机器人辅助微创手术和虚拟现实训练中的价值:当前综述
Surg Endosc. 2009 Jun;23(6):1180-90. doi: 10.1007/s00464-008-0298-x. Epub 2009 Jan 1.
10
Effects of visual force feedback on robot-assisted surgical task performance.视觉力反馈对机器人辅助手术任务表现的影响。
J Thorac Cardiovasc Surg. 2008 Jan;135(1):196-202. doi: 10.1016/j.jtcvs.2007.08.043.

听觉力反馈替代可提高模拟眼科手术中的手术精度。

Auditory force feedback substitution improves surgical precision during simulated ophthalmic surgery.

机构信息

Wilmer Eye Institute, Johns Hopkins School of Medicine, 400 N. Broadway, Baltimore, MD 21287-9277, USA.

出版信息

Invest Ophthalmol Vis Sci. 2013 Feb 15;54(2):1316-24. doi: 10.1167/iovs.12-11136.

DOI:10.1167/iovs.12-11136
PMID:23329663
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC3597188/
Abstract

PURPOSE

To determine the extent that auditory force feedback (AFF) substitution improves performance during a simulated ophthalmic peeling procedure.

METHODS

A 25-gauge force-sensing microforceps was linked to two AFF modes. The "alarm" AFF mode sounded when the force reached 9 mN. The "warning" AFF mode made beeps with a frequency proportional to the generated force. Participants with different surgical experience levels were asked to peel a series of bandage strips off a platform as quickly as possible without exceeding 9 mN of force. In study arm A, participants peeled with alarm and warning AFF modes, the order randomized within the experience level. In study arm B, participants first peeled without AFF, then alarm or warning AFF (order randomized within the experience level), and finally without AFF.

RESULTS

Of the 28 "surgeon" participants, AFF improved membrane peeling performance, reducing average force generated (P < 0.01), SD of forces (P < 0.05), and force × time above 9 mN (P < 0.01). Short training periods with AFF improved subsequent peeling performance when AFF was turned off, with reductions in average force, SD of force, maximum force, time spent above 9 mN, and force × time above 9 mN (all P < 0.001). Except for maximum force, peeling with AFF reduced all force parameters (P < 0.05) more than peeling without AFF after completing a training session.

CONCLUSIONS

AFF enables the surgeon to reduce the forces generated with improved precision during phantom membrane peeling, regardless of surgical experience. New force-sensing surgical tools combined with AFF offer the potential to enhance surgical training and improve surgical performance.

摘要

目的

确定听觉力反馈(AFF)替代在模拟眼科剥离过程中提高性能的程度。

方法

将 25G 力感微夹连接到两种 AFF 模式。当力达到 9 mN 时,“警报”AFF 模式会发出声音。“警告”AFF 模式会根据产生的力发出频率成正比的蜂鸣声。要求具有不同手术经验水平的参与者尽可能快地从平台上剥离一系列绷带条,而不超过 9 mN 的力。在研究臂 A 中,参与者使用警报和警告 AFF 模式进行剥离,经验水平内的顺序随机化。在研究臂 B 中,参与者首先在没有 AFF 的情况下进行剥离,然后是没有 AFF 的情况下进行报警或警告 AFF(经验水平内的顺序随机化),最后是没有 AFF 的情况下进行剥离。

结果

在 28 名“外科医生”参与者中,AFF 改善了膜剥离性能,减少了平均产生的力(P <0.01),力的标准差(P <0.05),以及力×时间超过 9 mN(P <0.01)。在关闭 AFF 时,使用 AFF 进行短期培训可以提高随后的剥离性能,减少平均力、力的标准差、最大力、9 mN 以上的时间和力×时间超过 9 mN(均 P <0.001)。除最大力外,使用 AFF 进行剥离比不使用 AFF 进行剥离后降低了所有力参数(P <0.05)。

结论

AFF 使外科医生能够在进行模拟膜剥离时以更高的精度减少产生的力,而与手术经验无关。新的力感手术工具与 AFF 相结合,具有提高手术培训和改善手术性能的潜力。