Grasper having tactile sensing function using acoustic reflection for laparoscopic surgery
Grasper having tactile sensing function using acoustic reflection for laparoscopic surgery
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DOI：
10.1007/s11548-017-1592-7
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发表时间：
2017-08-01
影响因子：
3
通讯作者：
Sano, Akihito
中科院分区：
文献类型：
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作者：
Ly, Hiep Hoang;Tanaka, Yoshihiro;Sano, Akihito
目的：在当前的微创手术技术中，外科医生可获得的触觉信息是有限的。改善触觉可以提高手术器械的可操作性。考虑到手术应用，应考虑电气安全、结构简单、灭菌能力等要求。当前的研究试图基于先前提出的使用声反射的触觉传感方法来开发一种可以测量尖端抓握力的抓握器。这种方法可以满足手术应用的要求，因为它插入患者体内的部分内没有电气元件。方法：我们将声学触觉传感方法集成到传统的抓钳器械中。我们设计了该乐器，以便抓臂和音叉套筒内的声腔通过枢转接头中的小腔连接。在该设计中，当抓握过程中两个抓臂之间的角度发生变化时，声腔的总长度和局部曲率保持不变。因此，无论抓取臂的方向如何，都可以测量抓取力。结果：我们根据我们提出的设计开发了原型传感抓取器。基本测试表明，传感器输出随着施加到抓臂上的接触力的增加而增加，并且抓臂的角度不会显着影响传感器输出。此外，抓握器抓取不同柔软度特性的物体的抓取测试结果表明，抓握器可以根据传感器输出适当调整抓握力以处理不同的物体。结论：实验结果表明，原型抓握器可以测量抓握力，实现安全稳定的抓握。
Purpose: In current minimally invasive surgery techniques, the tactile information available to the surgeon is limited. Improving tactile sensation could enhance the operability of surgical instruments. Considering surgical applications, requirements such as having electrical safety, a simple structure, and sterilization capability should be considered. The current study sought to develop a grasper that can measure grasping force at the tip, based on a previously proposed tactile sensing method using acoustic reflection. This method can satisfy the requirements for surgical applications because it has no electrical element within the part that is inserted into the patient's body.Methods: We integrated our acoustic tactile sensing method into a conventional grasping forceps instrument. We designed the instrument so that acoustic cavities within a grasping arm and a fork sleeve were connected by a small cavity in a pivoting joint. In this design, when the angle between the two grasping arms changes during grasping, the total length and local curvature of the acoustic cavity remain unchanged. Thus, the grasping force can be measured regardless of the orientation of the grasping arm.Results: We developed a prototype sensorized grasper based on our proposed design. Fundamental tests revealed that sensor output increased with increasing contact force applied to the grasping arm, and the angle of the grasping arm did not significantly affect the sensor output. Moreover, the results of a grasping test, in which objects with different softness characteristics were held by the grasper, revealed that the grasping force could be appropriately adjusted to handle different objects on the basis of sensor output.Conclusions: Experimental results demonstrated that the prototype grasper can measure grasping force, enabling safe and stable grasping.