Methods for haptic feedback in teleoperated robot-assisted surgery
Methods for haptic feedback in teleoperated robot-assisted surgery
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DOI：
10.1108/01439910410566362
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发表时间：
2004-01-01
影响因子：
1.8
通讯作者：
Okamura, AM
中科院分区：
文献类型：
--
作者：
Okamura, AM
远程操作的微创手术机器人可以显著提高外科医生的准确性、灵活性和可视化。然而，当前市售的系统不包括对操作者的显著触觉（力和触觉）反馈。本文介绍了实验来表征这个问题，以及几种方法来提供触觉反馈，以提高外科医生的性能。存在各种能够实现触觉反馈的感测和控制方法，尽管许多实际考虑因素（例如，成本、复杂性和生物相容性）提出了重大挑战。遥控机器人辅助手术系统测量和显示触觉信息的能力带来了许多额外的令人兴奋的临床和科学机会，例如通过“虚拟夹具”和组织特性的自动采集来主动辅助操作员。
Teleoperated minimally invasive surgical robots can significantly enhance a surgeon's accuracy, dexterity and visualization. However, current commercially available systems do not include significant haptic (force and tactile) feedback to the operator. This paper describes experiments to characterize this problem, as well as several methods to provide haptic feedback in order to improve surgeon's performance. There exist a variety of sensing and control methods that enable haptic feedback, although a number of practical considerations, e.g. cost, complexity and biocompatibility, present significant challenges. The ability of teleoperated robot-assisted surgical systems to measure and display haptic information leads to a number of additional exciting clinical and scientific opportunities, such as active operator assistance through "virtual fixtures" and the automatic acquisition of tissue properties.