School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China.
Institute of Forming Technology and Equipment, Shanghai Jiao Tong University, Shanghai, China.
Int J Med Robot. 2017 Dec;13(4). doi: 10.1002/rcs.1826. Epub 2017 May 17.
Surgical robots lack force feedback, which may lead to operation errors. In order to improve surgical outcomes, this research developed a new master-slave surgical robot, which was designed with an integrated force sensor.
The new structure designed for the master-slave robot employs a force feedback mechanism. A six-dimensional force sensor was mounted on the tip of the slave robot's actuator. Sliding model control was adopted to control the slave robot. According to the movement of the master system manipulated by the surgeon, the slave's movement and the force feedback function were validated.
The motion was completed, the standard deviation was calculated, and the force data were detected. Hence, force feedback was realized in the experiment.
The surgical robot can help surgeons to complete trajectory motions with haptic sensation.
手术机器人缺乏力反馈，这可能导致手术失误。为了提高手术效果，本研究开发了一种新型主从式手术机器人，它采用了集成力传感器的设计。
主从机器人的新结构采用力反馈机构，在从机器人执行器的末端安装了一个六维力传感器。采用滑模控制来控制从机器人。根据医生操纵的主系统的运动，验证了从机器人的运动和力反馈功能。
完成了运动，计算了标准偏差，并检测了力数据。因此，实验中实现了力反馈。
手术机器人可以帮助外科医生完成具有触觉的轨迹运动。
