Printing Strain Gauges on Intuitive Surgical da Vinci Robot End Effectors
Printing Strain Gauges on Intuitive Surgical da Vinci Robot End Effectors
复制标题
在直观的达芬奇手术机器人末端执行器上打印应变计
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
R. Wood
中科院分区：
文献类型：
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作者：
Rut Peña;Michael J. Smith;Nicolas P. Ontiveros;Frank L. Hammond;R. Wood
在机器人手术过程中，力反馈对于减少对患者的潜在伤害和减少手术后的恢复时间至关重要。在这里，我们描述了使用一种新的应变片打印方法，将低轮廓，低成本的传感器直接应用于达芬奇手术机器人末端执行器的表面（Intuitive surgical, Inc.），以感知偏转并提供力反馈。这种基于添加剂气相沉积的传感器制造方法用于将应变片直接沉积在末端执行器的表面上，对设备的破坏最小，不需要粘合剂或加工操作。初步实验表征了传感器的性能，并表明所提出的方法在微创过程中用于力反馈的适用性。
Force feedback during robotic surgery is critical in order to minimize potential injury to the patient and decrease recovery time from surgical procedures. Here we describe the use of a novel strain gauge printing method to apply low profile, low cost sensors directly to the surface of da Vinci surgical robot end effectors (Intuitive Surgical, Inc.) to sense deflection and provide force feedback. This additive, vapor-deposition-based sensor fabrication method is used to deposit strain gauges directly onto the surfaces of the end effectors with minimal disruption to the device and without the need for adhesives or machining operations. Initial experiments characterize sensor performance and indicate the applicability of the proposed approach for force feedback during minimally invasive procedures.