Experimentally driven design of a palpating gripper with minimally invasive surgery considerations
Experimentally driven design of a palpating gripper with minimally invasive surgery considerations
复制标题
考虑微创手术的触诊夹具的实验驱动设计
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
R. Persad
中科院分区：
文献类型：
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作者：
A. Spiers;S. Baillie;A. Pipe;R. Persad
当前机器人微创手术的自然扩展是增加了触觉和运动反馈，这将为外科医生提供关于被观察组织的宝贵触觉信息。识别触觉特性需要积极探索[1][2]。据信，这种探索可以通过一种工具来促进，该工具能够复制外科医生的主要探查程序(EP；收集触觉信息的动作)。这样的工具还必须符合类似的管理信息系统工具的制造和其他限制。本文通过与外科医生的实验，强调了这种夹持器的要求。研究结果已用于研制一种基于倒置闭链串联机械手的2指3自由度夹持器。与其他机械手相比，该系统的一个主要优势是它的灵活性和紧凑性。这种夹爪被证明能够复制最常见的观察到的两指探查程序。有人认为，一个单一的触觉传感器对于两个手指系统来说是足够有用的，并且已经设计了一个可适应这种传感器的系统的规模化原型。这个系统的设计考虑到了后来的腹腔镜级制造。
A natural extension of current robotic minimally invasive surgery (MIS) is the addition of tactile and kinesthetic feedback, which would give an operating surgeon valuable haptic information about tissue under observation. Identification of haptic properties requires active exploration [1][2]. It is believed that such exploration may be facilitated by a tool capable of replicating the major exploratory procedures (EPs; haptic information gleaning maneuvers) of a surgeon. Such a tool must also fit within the fabrication and other constraints of similar MIS tools. In this paper the requirements of such a gripper are highlighted via experiments with surgeons. The results have been used to develop a 2-finger, 3dof (degree of freedom) gripper based on an inverted closed chain serial manipulator. A primary advantage of this system is its dexterity and compactness, compared to other manipulators. The gripper is shown to be capable of replicating the most frequently observed two-finger exploratory procedures. It is argued that a single tactile sensor is sufficiently useful for a two fingered system and a scaled prototype of the system has been designed to accommodate such a sensor. This system has been designed with later laparoscopic grade manufacture in mind.