Braun Dennis, Weik David, Elsner Sophia, Hunger Sandra, Werner Michael, Drossel Welf-Guntram
Fraunhofer Institute for Machine Tools and Forming Technology, Department of Medical Engineering, Nöthnitzer Str. 44, 01187 Dresden, Germany.
Professorship for Adaptronics and Lightweight Design in Production, Chemnitz University of Technology, Straße der Nationen 62, 09111 Chemnitz, Germany.
Materials (Basel). 2021 Sep 6;14(17):5111. doi: 10.3390/ma14175111.
Minimally invasive surgery is increasingly used in many medical operations because of the benefits for the patients. However, for the surgeons, accessing the situs through a small incision or natural orifice comes with a reduction of the degrees of freedom of the instrument. Due to friction of the mechanical coupling, the haptic feedback lacks sensitivity that could lead to damage of the tissue. The approach of this work to overcome these problems is to develop a control concept for position control and force estimation with shape memory alloys (SMA) which could offer haptic feedback in a novel handheld instrument. The concept aims to bridge the gap between manually actuated laparoscopic instruments and surgical robots. Nickel-titanium shape memory alloys are used for actuation because of their high specific energy density. The work includes the manufacturing of a functional model as a proof of concept comprising the development of a suitable forceps mechanism and electronic circuit for position control and gripping force measurement, as well as designing an ergonomic user interface with haptic force feedback.
由于对患者有益，微创手术在许多医疗手术中越来越多地被使用。然而，对于外科医生来说，通过小切口或自然孔道进入手术部位会导致器械自由度降低。由于机械耦合的摩擦，触觉反馈缺乏灵敏度，这可能会导致组织损伤。这项工作克服这些问题的方法是开发一种用于位置控制和力估计的控制概念，使用形状记忆合金（SMA），它可以在一种新型手持器械中提供触觉反馈。该概念旨在弥合手动操作的腹腔镜器械和手术机器人之间的差距。镍钛形状记忆合金因其高比能量密度而用于驱动。这项工作包括制造一个功能模型作为概念验证，包括开发一种合适的镊子机构和用于位置控制和夹持力测量的电子电路，以及设计一个具有触觉力反馈的人体工程学用户界面。
