Palpation instrument for augmented minimally invasive surgery
Palpation instrument for augmented minimally invasive surgery
复制标题
用于增强微创手术的触诊仪器
DOI：
10.1109/iros.2004.1390033
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
T. Johansen
中科院分区：
文献类型：
--
作者：
M. V. Ottermo;Ø. Stavdahl;T. Johansen
给出了一种用于微创手术的远程触诊仪的初步设计。在管理信息系统中缺乏触觉限制了外科医生检查和触诊内脏器官的能力。基于这一问题，本文的目的是描述一种可以作为外科医生手指的延伸的外科器械。连接在器械末端执行器上的压电式传感器阵列提供触觉信息，这些信息通过触觉显示器发送到外科医生的手指，以提供组织形状和硬度的感觉。传感器阵列为24 mm/SPL次/8 mm，由30个压电传感器组成，而触觉显示器由30个微型电机组成，总尺寸为32 mm/SPL次/18 mm/SPL次/45 mm。
A preliminary design of a remote palpation instrument for minimally invasive surgery (MIS) is given. The lack of the tactile sense in MIS limits the surgeon's abilities to examine and palpate internal organs. Based on this problem, the aim of this paper is to describe a surgical instrument which can serve as an extension of the surgeon's fingers. A piezoelectric sensor array attached to the instrument's end effector provide tactile information, which is sent to the surgeon's fingers via a tactile display to provide a feeling of the shape and hardness of the tissue. The sensor array is 24 mm /spl times/ 8 mm and consists of 30 piezoelectric sensors, while the tactile display constitutes of 30 micro motors adding up to a total size of 32 mm /spl times/ 18 mm /spl times/ 45 mm.