Study on real-time force feedback for a master-slave interventional surgical robotic system
Study on real-time force feedback for a master-slave interventional surgical robotic system
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DOI：
10.1007/s10544-018-0278-4
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发表时间：
2018-04-13
影响因子：
2.8
通讯作者：
Jiang, Yuhua
中科院分区：
文献类型：
--
作者：
Guo, Shuxiang;Wang, Yuan;Jiang, Yuhua
在机器人辅助导管插入术中，触觉反馈很重要，但目前缺乏。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，这导致不准确的控制。我们在此开发了一种新型的实时主从（RTMS）介入手术机器人系统，具有闭环力反馈，允许外科医生在远程操作期间感知真实力，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，我们还设计了一个独特的主控制手柄，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。我们使用理论和经验的方法来证明，所提出的RTMS系统提供了一个外科医生（使用主控制手柄）与更准确和逼真的力的感觉，随后提高了精度的主从操纵。实验结果表明，在手术过程中的力反馈的控制精度和操作效率的增加显着增加。
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.