A Modular, Automated Laparoscopic Grasper with Three-Dimensional Force Measurement Capability
A Modular, Automated Laparoscopic Grasper with Three-Dimensional Force Measurement Capability
复制标题
具有三维力测量功能的模块化自动化腹腔镜抓取器
DOI：
10.1109/robot.2007.363795
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
J. Desai
中科院分区：
文献类型：
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作者：
G. Tholey;J. Desai
将机器人辅助手术引入手术室已经导致外科手术的显著改进。然而，在这些使用长遥控器械的机器人系统中缺乏触觉反馈已经负面地影响了外科医生触诊组织并将其诊断为健康或不健康的能力。本文介绍了我们设计的模块化，自动腹腔镜抓钳与三向力测量能力。抓钳可以测量正常的抓力，以及在抓取和触诊任务期间的侧向操纵力。此外，模块化设计允许在手术模式（例如，抓取、切割和解剖）。力传感器的校准和原型的初始测试表明其能够准确测量工具-组织相互作用力。
The introduction of robot-assisted surgery into the operating room has led to significant improvements in surgical procedures. However, the lack of haptic feedback in these robotic systems using long teleoperated instruments has negatively affected the surgeon's ability to palpate tissue and diagnose it as healthy or unhealthy. This paper describes our design of a modular, automated laparoscopic grasper with tri-directional force measurement capability. The grasper can measure normal grasping forces, as well as, sideways manipulation forces during grasping and palpation tasks. Additionally, a modular design allows for easy conversion between surgical modalities (e.g., grasping, cutting, and dissecting). Calibration of the force sensors and initial testing of the prototype has shown its ability to accurately measure tool-tissue interaction forces.