Virtual Palpation Gripper
Virtual Palpation Gripper
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虚拟触诊夹具
DOI：
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
M. V. Ottermo
中科院分区：
文献类型：
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作者：
M. V. Ottermo
本文介绍了虚拟触诊夹具的设计和性能，这是一种用于腹腔镜手术的远程触诊仪器的早期原型。还描述了与该原型相关的心理物理学实验。
在微创技术中，例如腹腔镜手术，是通过小切口将器械插入体内进行操作的。这种技术越来越受欢迎，现在被认为是许多外科手术（如胆囊切除术）的黄金标准。与开放手术相比，其主要优点是疤痕更小、疼痛减轻和恢复更快。然而，尽管有这些优点，腹腔镜手术给外科医生带来了许多限制，例如灵活性降低、自由度减少以及手部位置尴尬。此外，视觉和触觉感知严重下降。虚拟触诊夹具的目的是通过将触觉信息反馈给外科医生来弥补部分丧失的感知。最终目标是使远程触诊仪器成为外科医生手指的延伸。这是通过在腹腔镜抓钳的末端执行器上安装一个触觉传感器阵列，并在抓钳的手柄上安装一个触觉显示器来实现的。然后，传感器阵列作为触觉感官，触觉信息通过触觉显示器发送到外科医生的手指，使他能够感觉到用腹腔镜器械抓取的物体的形状、硬度或大小。
讨论了两种不同的传感器阵列。第一种基于压电原理，是在我们实验室从头开始制作的。第二种传感器是定制的TactArray，它基于一种成熟的电容技术。两种传感器阵列都足够小，可以通过12毫米的套管针。由于压电阵列中的串扰，选择TactArray传感器阵列用于虚拟触诊夹具的原型。通过一项有15名不同经验的外科医生参与的实验，对传感器阵列的性能和实用性进行了测试和记录。主要目的是比较直接触诊（如开放手术中戴手套的手指触诊）、使用常规腹腔镜抓钳触诊以及使用带有视觉呈现触觉信息的腹腔镜抓钳触诊。结果表明，直接触诊优于两种腹腔镜抓钳，但带有触觉图像视觉反馈的抓钳对于完全理解如何使用它的受试者似乎是有用的，特别是对于硬度辨别（请注意，常规抓钳的末端执行器大小和抓钳质量与带有触觉图像视觉反馈的腹腔镜抓钳不同，这可能影响了结果）。
触觉形状显示器由小型直流电机组成，其尺寸与常规腹腔镜器械兼容。对显示器的性能测试主要集中在定位精度、力、带宽和刚度上。此外，还描述了一项针对触觉显示器针形的实验。结果表明，所研究的不同针形在感知上没有显著差异。
最后，描述了触觉传感器和触觉显示器之间的通信，并通过性能测试和心理物理学实验对整个系统进行了评估。显示器能够成功传达关于压在触觉传感器阵列上的物体的大小、硬度和形状的有用信息，尽管在提高带宽和分辨率方面肯定有潜力，以便能够呈现关于纹理和尖锐边缘的小尺度信息。10名受试者参与了心理物理学实验，目的是将我们带有触觉反馈的完整远程触诊仪器与常规腹腔镜抓钳进行比较。结果表明，远程触诊系统在区分和定位不同大小方面似乎比常规腹腔镜器械效果更好。
This thesis presents the design and performance of the Virtual Palpation Gripper, an early prototype of a remote palpation instrument intended for laparoscopic surgery. Psychophysical experiments related to this prototype are also described.In minimally invasive techniques, such as laparoscopic surgery, the interventions are performed with instruments inserted into the body through small incisions. This technique has become increasingly popular and is now considered the gold standard for many surgical procedures, such as cholecystectomy. Themain advantages compared to open surgery are smaller scars, reduction in pain and faster recovery. Despite the advantages, laparoscopic surgery introduces many restrictions for the surgeon, such as reduced dexterity, fewer degrees of freedom and awkward positioning of the hands. Additionally, the visual and tactile perception is severely degraded. The aim of the Virtual Palpation Gripper is to compensate for some of the lost perception by feeding tactile information back to the surgeon. The ultimate goal is to make the remote palpation instrument serve as an extension of the surgeon’s fingers. This is accomplished by attaching a tactile sensor array to the end effector of a laparoscopic grasper and a tactile display to the handle of the grasper. The sensor array then aids as the tactile sense, and the tactile information is sent to the surgeon’s fingers via the tactile display to provide him with a feeling of the shape,hardness, or size of an object grasped with the laparoscopic instrument.Two different sensor arrays are discussed. The first one is based on piezoelectricity and is made from scratch in our laboratory. The second sensor is the custom made TactArray, which is based on a mature capacitive technology. Both sensor arrays are small enough to fit through a 12 mm trocar. Due to crosstalk in the piezoelectric array, the TactArray sensor array is chosen for the prototype of the Virtual Palpation Gripper. The performance and usefulness of the sensor array is tested and documented through an experiment where 15 surgeons with varying experience participate. The main goal is to compare direct palpation (with gloved fingers as in open surgery), palpation with a conventional laparoscopic grasper and palpation with a laparoscopic grasper with visually presented tactile information. Results show that direct palpation is superior to both the laparoscopic graspers, but that the grasper with visual feedback of the tactile image seems to be useful for subjects who fully understand how to use it, especially for hardness discrimination (note that the size of the end effector of the conventional grasper and the quality of the grasper differed from that of the laparoscopic grasper with visual feedback of the tactile image, and this may have affected the results).The tactile shape display consists of small direct-current motors and has a size compatible with conventional laparoscopic instruments. Performance tests of the display are conducted with focus on positioning accuracy, force, bandwidth and stiffness. In addition, an experiment focusing on pin shapes for tactile displays is described. The results show that there is no significant variation in perception with the different pin shapes investigated.Finally, the communication between the tactile sensor and the tactile display is described, and the full system is evaluated by performance tests and a psychophysical experiment. The display can successfully convey useful information about the size, hardness and shape of objects pressed against the tactile sensor array, although there is a definite potential for improving the bandwidth and resolution such that small scale information about texture and sharp edges can be represented. Ten subjects participate in the psychophysical experiments, where the goal is to compare our full remote palpation instrument with tactile feedback with a conventional laparoscopic grasper. The results show that the remote palpation system seems to work somewhat better than conventional laparoscopic instruments for discriminating between and locating different sizes.
影响因子：
2.5
作者：
SRINIVASAN, MA;LAMOTTE, RH
通讯作者：
LAMOTTE, RH