Guo Shuxiang, Wang Yuan, Xiao Nan, Li Youxiang, Jiang Yuhua
School of Life Science, Beijing Institute of Technology, No.5, Zhongguancun South Street, Haidian District, Beijing, 100081, China.
Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, 760-8521, Japan.
Biomed Microdevices. 2018 Apr 13;20(2):37. doi: 10.1007/s10544-018-0278-4.
In robot-assisted catheterization, haptic feedback is important, but is currently lacking. In addition, conventional interventional surgical robotic systems typically employ a master-slave architecture with an open-loop force feedback, which results in inaccurate control. We develop herein a novel real-time master-slave (RTMS) interventional surgical robotic system with a closed-loop force feedback that allows a surgeon to sense the true force during remote operation, provide adequate haptic feedback, and improve control accuracy in robot-assisted catheterization. As part of this system, we also design a unique master control handle that measures the true force felt by a surgeon, providing the basis for the closed-loop control of the entire system. We use theoretical and empirical methods to demonstrate that the proposed RTMS system provides a surgeon (using the master control handle) with a more accurate and realistic force sensation, which subsequently improves the precision of the master-slave manipulation. The experimental results show a substantial increase in the control accuracy of the force feedback and an increase in operational efficiency during surgery.
在机器人辅助导管插入术中，触觉反馈很重要，但目前尚缺。此外，传统的介入手术机器人系统通常采用具有开环力反馈的主从架构，这导致控制不准确。我们在此开发了一种新型的具有闭环力反馈的实时主从（RTMS）介入手术机器人系统，该系统能让外科医生在远程操作过程中感知真实力，提供足够的触觉反馈，并提高机器人辅助导管插入术的控制精度。作为该系统的一部分，我们还设计了一种独特的主控制手柄，用于测量外科医生感受到的真实力，为整个系统的闭环控制提供基础。我们使用理论和实证方法证明，所提出的RTMS系统为外科医生（使用主控制手柄）提供了更准确、更真实的力感，进而提高了主从操作的精度。实验结果表明，力反馈的控制精度大幅提高，手术期间的操作效率也有所提高。
