一种结合主动约束和力反馈的无接地手持式手术器械。
An Ungrounded Hand-Held Surgical Device Incorporating Active Constraints with Force-Feedback.
作者信息
Payne Christopher J, Kwok Ka-Wai, Yang Guang-Zhong
机构信息
Christopher J. Payne, Ka-Wai Kwok and Guang-Zhong Yang are with the Hamlyn Centre for Robotic Surgery, Imperial College London, UK.
出版信息
Rep U S. 2013 Nov 7;2013:2559-2565. doi: 10.1109/IROS.2013.6696717.
This paper presents an ungrounded, hand-held surgical device that incorporates active constraints and force-feedback. Optical tracking of the device and embedded actuation allow for real-time motion compensation of a surgical tool as an active constraint is encountered. The active constraints can be made soft, so that the surgical tool tip motion is scaled, or rigid, so as to altogether prevent the penetration of the active constraint. Force-feedback is also provided to the operator so as to indicate penetration of the active constraint boundary by the surgical tool. The device has been evaluated in detailed bench tests to quantify its motion scaling and force-feedback capabilities. The combined effects of force-feedback and motion compensation are demonstrated during palpation of an active constraint with rigid and soft boundaries. A user study evaluated the combined effect of motion compensation and force-feedback in preventing penetration of a rigid active constraint. The results have shown the potential of the device operating in an ungrounded setup that incorporates active constraints with force-feedback.
本文介绍了一种无固定支撑、手持式的手术设备，该设备集成了主动约束和力反馈功能。对设备的光学跟踪以及嵌入式驱动，使得在遇到主动约束时能够对手术工具进行实时运动补偿。主动约束可以设置为软约束，以便缩放手术工具尖端的运动，也可以设置为硬约束，从而完全防止穿透主动约束。还向操作员提供力反馈，以指示手术工具穿透主动约束边界的情况。该设备已在详细的台架试验中进行评估，以量化其运动缩放和力反馈能力。在触诊具有硬边界和软边界的主动约束时，展示了力反馈和运动补偿的综合效果。一项用户研究评估了运动补偿和力反馈在防止穿透硬主动约束方面的综合效果。结果表明，该设备在结合了主动约束和力反馈的无固定支撑设置中运行具有潜力。
Zotero 插件