一种用于玻璃体视网膜手术的新型双力传感仪器及协作机器人助手
A Novel Dual Force Sensing Instrument with Cooperative Robotic Assistant for Vitreoretinal Surgery.
作者信息
He Xingchi, Balicki Marcin, Gehlbach Peter, Handa James, Taylor Russell, Iordachita Iulian
机构信息
Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218 USA.
Computer Science Department, Johns Hopkins University, Baltimore, MD 21218 USA.
出版信息
IEEE Int Conf Robot Autom. 2013 Dec 31;2013:213-218. doi: 10.1109/ICRA.2013.6630578.
Robotic assistants and smart surgical instruments have been developed to overcome many significant physiological limitations faced by vitreoretinal surgeons, one of which is lack of force perception below 7.5 mN. This paper reports the development of a new force sensor based on fiber Bragg grating (FBG) with the ability to sense forces at the tip of the surgical instrument located inside the eye and also provide information about instrument interaction with the sclera. The sclera section provides vital feedback for cooperative robot control to minimize potentially dangerous forces on the eye. Preliminary results with 2×2 degree-of-freedom (DOF) sensor and force scaling robot control demonstrate significant reduction of forces on the sclera. The design and analysis of the sensor is presented along with a simulated robot assisted retinal membrane peeling on a phantom with sclera constraints and audio feedback.
为克服玻璃体视网膜外科医生面临的许多重大生理限制，已开发出机器人助手和智能手术器械，其中一个限制是低于7.5毫牛的力感知能力不足。本文报告了一种基于光纤布拉格光栅（FBG）的新型力传感器的开发，该传感器能够感知位于眼内的手术器械尖端的力，并提供有关器械与巩膜相互作用的信息。巩膜部分为协作机器人控制提供重要反馈，以尽量减少对眼睛的潜在危险力。使用2×2自由度（DOF）传感器和力缩放机器人控制的初步结果表明，巩膜上的力显著降低。本文介绍了传感器的设计与分析，以及在具有巩膜约束和音频反馈的模型上进行的模拟机器人辅助视网膜膜剥离。
Zotero 插件