Automatic Design of Compliant Surgical Forceps With Adaptive Grasping Functions
Automatic Design of Compliant Surgical Forceps With Adaptive Grasping Functions
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DOI：
10.1109/lra.2020.2967715
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发表时间：
2020-04-01
影响因子：
5.2
通讯作者：
Lueth, Tim C.
中科院分区：
文献类型：
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作者：
Sun, Yilun;Liu, Yuqing;Lueth, Tim C.
提出了一种新的具有自适应抓取功能的柔性手术钳的自动设计方法。顺应性手术钳比传统的刚性关节手术钳更容易组装和灭菌，因此其使用正在从传统的开放手术扩展到机器人辅助的微创应用。然而，许多顺应性镊子仍然执行刚性抓取，并且因此可能在手术期间损伤敏感器官和组织。因此，需要自适应抓取功能来安全地操纵脆弱的结构。目前，使用经验方法来设计用于不同手术机器人应用的自适应顺应性镊子是困难且耗时的。为了科普这个问题，我们开发了一种基于拓扑优化的方法，能够自动合成自适应顺应性镊子。对所设计的手术钳的自适应抓取功能进行了仿真和实验测试。结果表明，所开发的方法大大简化了设计过程，使其能够有效地实现特定任务的顺应性镊子。
In this paper, we present a novel method for achieving automatic design of compliant surgical forceps with adaptive grasping functions. Compliant forceps are much easier to assemble and sterilize than conventional rigid-joint forceps, hence their use is spreading from traditional open surgery to robot-assisted minimally invasive applications. However, many compliant forceps still perform stiff grasping, and thus can damage sensitive organs and tissues during the operation. Adaptive grasping function is therefore required for safe manipulation of vulnerable structures. Currently, it is difficult and time consuming to use empirical methods for designing adaptive compliant forceps for different surgical robotic applications. To cope with this problem, we developed a topology-optimization-based method able to synthesize adaptive compliant forceps automatically. Simulation and experimental tests were conducted to evaluate the adaptive grasping function of designed surgical forceps. The results demonstrated that the developed method greatly simplifies the design process and makes it possible to efficiently realize task-specific compliant forceps.