Adapter for contact force sensing of the da Vinci® robot
Adapter for contact force sensing of the da Vinci® robot
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DOI：
10.1002/rcs.187
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发表时间：
2008-06-01
影响因子：
2.5
通讯作者：
Hakozaki, Yoshinori
中科院分区：
文献类型：
--
作者：
Shimachi, Shigeyuki;Hirunyanitiwatna, Surakij;Hakozaki, Yoshinori
目前，达芬奇(R)手术机器人系统不提供触觉反馈。其中一位作者提出了一种称为“大衣法”的接触力传感方法，其中仪器/驱动器由力传感器支持。在达芬奇机器人中，仪器钳口由钢丝滑轮机构提供动力；因此，为了将大衣方法应用于达芬奇系统，我们必须通过一个由力传感器支撑的框架来传递能量。方法作者尝试在达芬奇系统的无菌接头上增加力传感器功能。在开发一种传感器适配器时，设计了一种新的力传感器配置和一种新的无轴向力（AFF）关节，以便从达芬奇机器人手臂提供的驱动扭矩中获得独立的“轴向力效应”。结果本系统的力感误差在驱动钳口时最大约为0.2 N，在机械臂倾斜并有一定激励时最大约为0.2 N。施加在钳口末端的一些冲击参考力与感应接头的输出值在< 0.05 n内一致。讨论表明，新的接头可以消毒。一个担忧是，新适配器的总重量——大约1.2公斤——可能会使机器人手臂失去平衡。在新的适配器的情况下，仪器轴的中心线从其原始位置向外移动约3.5毫米。然而，一种新的达芬奇机器人插管可能会解决这个问题。结论新型力传感器结构与新型AFF的结合能很好地发挥其基本功能。总力传感误差估计约为0.5 n，误差的主要原因之一似乎是适配器框架的变形。版权所有(c) 2008约翰威利父子有限公司
Background At present, the da Vinci (R) surgical robot system does not provide haptic feedback. One of the authors has proposed a contact-force sensing method called the 'overcoat method', in which the instrument/driver is supported by force sensors. In the da Vinci robot, the instrument jaws are powered by a wire-pulley mechanism; thus, in order to apply the overcoat method to the da Vinci system, we must transfer the power through a frame that is supported by force sensors.Methods The authors have attempted to add a force-sensor function to the Sterile Adapter of the da Vinci system. In developing a sensorized adapter, a new configuration of force sensors and a new axial-force-free (AFF) joint have been devised in order to obtain an independent 'axial force effect' from the drive torque fed from the da Vinci robot arm.Results The force-sensing errors of the present system have been measured to have a maximum value of approximately 0.2 N while driving the jaws, and a maximum value of approximately 0.2 N when the robot arm is inclined with some excitation. Some impact reference forces applied on to the ends of the jaws agree with the outputs of the sensorized adapter to within < 0.05 N.Discussions It is shown that the new adapter can be sterilized. One apprehension is that the total weight of the new adapter-approximately 1.2 kg-might unbalance the robot arm. In the case of the new adapter, the centre-line of the instrument shaft is shifted externally through approximately 3.5 mm from its original position. However, a new cannula for the da Vinci robot might solve this problem.Conclusion The new configuration of force sensors and the new AFF joint work well in their basic functions. The total force-sensing error is estimated as approximately 0.5 N. One of the main reasons for the error appears to be the deformation of the adapter frame. Copyright (c) 2008 John Wiley & Sons, Ltd.