Actuator Array for Use in Minimally Invasive Surgery
Actuator Array for Use in Minimally Invasive Surgery
复制标题
用于微创手术的执行器阵列
DOI：
10.1051/jp4:1997596
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发表时间：
1997
期刊：
影响因子：
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通讯作者：
B. Hoffmann
中科院分区：
文献类型：
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作者：
H. Fischer;R. Trapp;L. Schüle;B. Hoffmann
对于微创手术中的触觉反馈，正在构建由8 x 8致动器组成的触觉致动器阵列。该系统与安装在腹腔镜手术钳中的触觉光学传感器系统相结合，提供8 x 8信号。这些信号必须通过致动器阵列显示为真实比例的表示。因此，每个测量的压力信号都被编码为相应的致动位移。每个致动器都是由SMA弹簧制成的，具有单向效应。SMA弹簧与偏置弹簧作用，两者都安装在电气隔离的基座引脚上。在被动冷却期间，偏置弹簧产生抵抗SMA弹簧的线性上升力，用于复位致动器。整个致动器的直径为1.6 mm，长度为25 mm，并且安装在距下一个致动器3.2 mm的距离处。单个致动器在按压外科医生指尖时的合力超过2.5 N，致动位移约为3.5 mm。每个销具有模拟调节功能，可以在3.5 mm偏转范围内的所有位置停止。复位时间约为10秒，并且在致动器阵列的三个侧面上安装3个风扇时达到。其目的是建立一个微创触诊系统，使外科医生可以'感觉'与他的腹腔镜钳。
For tactile-haptical feedback in minimally invasive surgery, a tactile actuator array consisting of 8 x 8 actuators is being built. The system is combined with a tactile optical sensor system mounted in a laparoscopic forceps, providing 8 x 8 signals. These signals have to be shown as a true-scale representation through the actuator array. Therefore each measured pressure signal is coded into a corresponding actuating displacement. Each actuator is made out of a SMA-spring conditioned with the one way effect. The SMA spring works against a bias spring and both are mounted on an electrically isolated base pin. The bias spring produces a linear rising force against the SMA-spring for resetting the actuator during the passive cooling time. The whole actuator has a diameter of 1.6 mm, a length of 25 mm and is mounted at a distance of 3.2 mm from the next actuator. The resulting force of a single actuator while pressing against the surgeon's fingertip is over 2.5 N, and the actuating displacement is about 3.5 mm. Each pin has analogue adjustment and can be stopped at all positions within these 3.5 mm deflection. The resetting time is about 10 seconds and is reached with 3 fans mounted on three sides of the actuator array. The aim is to build a minimally invasive palpation system so that the surgeon can 'feel' with his laparoscopic forceps.