Deng Shouhui, Li Haojun, Lin Yuxuan, Song Aiguo, Zhu Lifeng
State Key Laboratory of Digital Medical Engineering, Jiangsu Key Lab of Robot Sensing and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, 210096, Jiangsu, P R China.
Med Biol Eng Comput. 2025 Jul 24. doi: 10.1007/s11517-025-03420-z.
Thyroid nodules often necessitate surgical intervention, where traditional retractors may cause muscle damage due to prolonged use. This study introduces a slippage-suppression robotic system for thyroid surgery, featuring a conformal force and torque sensing module integrated with a robotic manipulator for compliant force control. The system features five-dimensional (5DoF) contact force sensing, achieving accurate force measurement with a relative error of . Experiments performed on phantoms and porcine tissues demonstrate the system's ability to suppress slippage effectively, ensure reliable force feedback, and improve safety and precision during thyroid surgery.
甲状腺结节常常需要进行手术干预，而传统牵开器因长时间使用可能会导致肌肉损伤。本研究介绍了一种用于甲状腺手术的防滑机器人系统，其特点是集成了保形力和扭矩传感模块的机器人操纵器，用于柔顺力控制。该系统具有五维（5DoF）接触力传感功能，实现了相对误差为 的精确力测量。在模型和猪组织上进行的实验表明，该系统能够有效抑制滑动，确保可靠的力反馈，并提高甲状腺手术期间的安全性和精确性。
