Performance evaluation of a strain-gauge force sensor for a haptic robot-assisted catheter operating system
Performance evaluation of a strain-gauge force sensor for a haptic robot-assisted catheter operating system
复制标题
DOI：
10.1007/s00542-017-3380-2
复制
发表时间：
2017-10-01
影响因子：
2.1
通讯作者：
Song, Yu
中科院分区：
文献类型：
--
作者：
Zhang, Linshuai;Guo, Shuxiang;Song, Yu
机器人辅助导管插入系统可以明显减少外科医生的辐射暴露，并减轻穿着防护服长时间站立引起的疲劳。然而，近端力信号的有效检测和反馈对于手术的成功至关重要。本文提出了一种紧凑的，具有成本效益的力传感设备的基础上应变片，为我们的团队开发的从侧，测量输入导管的近端力信号。该传感器的一个显著优点是可以直接检测力信号，而无需任何机械传递，这可以提高力信息的测量精度。此外，基于MR流体的触觉接口被设计为根据来自从侧的力信号提供逼真的操作感，从而提高手术的安全性和成功率。通过插入试验和测力传感器的对比试验，测力的平均误差小于0.01N。这项研究提供了重要的见解，设计紧凑，符合人体工程学，机器人导管操纵器术中导航使用有效的触觉传感设备。
A robotically assisted catheterization system can obviously reduce the radiation exposure to the surgeon and lesson the fatigue caused by standing for long time in protective clothing. However, effective detection and feedback of proximal force signals is essential to the success of a surgery. This paper presents a compact, cost-effective force-sensing device based on strain gauges, for our team developed slave side, to measure the proximal force signals of the input catheter. A significant advantage is that the proposed sensing device can detect the force signals directly without any mechanical transmission, and this can increase the measurement accuracy of force information. In addition, a haptic interface based on MR fluid is designed to provide a realistic sense of operation according to the force signals from the slave side, so as to improve the safety and success of a surgery. Comparing experimental results from an insertion test and a load cell, show that the average error for force measurement is less than 0.01 N. This research provides important insights into the design of compact, ergonomic, robotic catheter manipulators for intraoperative navigation using effective tactile sensing devices.