A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy.
A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy.
复制标题
用于机器人乳突切除术中实时力反馈的力感应手术钻。
DOI：
10.1007/s11548-023-02873-7
复制
发表时间：
2023
影响因子：
3
通讯作者：
Galaiya,Deepa
中科院分区：
文献类型：
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作者：
Chen,Yuxin;Goodridge,Anna;Sahu,Manish;Kishore,Aditi;Vafaee,Seena;Mohan,Harsha;Sapozhnikov,Katherina;Creighton,FrancisX;Taylor,RussellH;Galaiya,Deepa
机器人辅助耳科手术可以减轻手术医生在侧颅底关键结构周围骨切除过程中的任务负担。然而，安全部署到解剖通道需要先进的传感能力的发展，积极限制手术工具和关键anatomis.MethodsWe之间的相互作用力介绍了一种手术钻配备了一个力传感器，能够测量准确的工具组织相互作用力，使力控制和反馈给外科医生。安装在一个协同控制的手术robot.ResultsThe力传感手术钻的设计，校准和验证的手术钻的尖端上的力测量进行验证与生鸡蛋钻孔实验，其中安装在鸡蛋下面的力传感器作为地面真理。点和路径钻孔实验的平均均方根误差分别为41.7（± 12.2）mN和48.3（± 13.7）mN，foreign.ConclusionThe力传感原型测量力与亚毫牛顿的分辨率和结果表明，校准的力传感钻产生准确的力测量与最小的误差相比，测得的钻力。这种传感能力的开发对于在临床环境中安全使用机器人系统至关重要。
PurposeRobotic assistance in otologic surgery can reduce the task load of operating surgeons during the removal of bone around the critical structures in the lateral skull base. However, safe deployment into the anatomical passageways necessitates the development of advanced sensing capabilities to actively limit the interaction forces between the surgical tools and critical anatomy.MethodsWe introduce a surgical drill equipped with a force sensor that is capable of measuring accurate tool–tissue interaction forces to enable force control and feedback to surgeons. The design, calibration and validation of the force-sensing surgical drill mounted on a cooperatively controlled surgical robot are described in this work.ResultsThe force measurements on the tip of the surgical drill are validated with raw-egg drilling experiments, where a force sensor mounted below the egg serves as ground truth. The average root mean square error for points and path drilling experiments is 41.7 (± 12.2) mN and 48.3 (± 13.7) mN, respectively.ConclusionThe force-sensing prototype measures forces with sub-millinewton resolution and the results demonstrate that the calibrated force-sensing drill generates accurate force measurements with minimal error compared to the measured drill forces. The development of such sensing capabilities is crucial for the safe use of robotic systems in a clinical context.