Haptic Feedback for Robotic Surgery using bi-axial capacitive force sensors

使用双轴电容力传感器的机器人手术触觉反馈

• 批准号: 8802497
• 负责人: Erik Dutson
• 金额: $ 33.21万
• 依托单位: UNIVERSITY OF CALIFORNIA LOS ANGELES
• 依托单位国家: 美国
• 财政年份: 2014
• 资助国家: 美国
• 起止时间: 2014-09-25 至 2018-06-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/8802497
• 关键词: Adoption; Anastomosis - action; Biological; Biomechanics; Clinical; Clinical Trials; Complex; Computer software; Development; Dissection; Environment; Esthesia; Evaluation; Family suidae; Feasibility Studies; Feedback; Gastric Bypass; Gastrointestinal Surgical Procedures; Human; Measures; Modeling; Morbidity - disease rate; Operative Surgical Procedures; Outcome; Outcome Measure; Performance; Procedures; Reporting; Robot; Robotics; Safety; Sensory; Signal Transduction; Surface; Surgeon; Surgical Anastomosis; Surgical complication; Surgical sutures; System; Testing; Tissues; Tooth structure; Translating; Translations; Work; base; design; gastrointestinal; grasp; haptics; human subject; improved; in vivo; novel; pre-clinical; public health relevance; research study; sensor; sensory feedback; time use

DESCRIPTION (provided by applicant): Lack of haptic feedback has been identified as a barrier to adoption of robotic platforms, particularly during gastrointestinal procedures as they require both grasping and shear sensation to perform delicate anastomoses and dissections. The present proposal will further develop the capabilities of a Haptic Feedback System (HFS) to deliver this bi-axial sensory information from the surgical graspers to the fingertips of the operating surgeon in a robotic platform. The current HFS detects grasping forces via piezoresistive sensors, delivering this signal wirelessly through pneumatic balloon actuators. Previous results have shown that when using the HFS surgeons perform tasks more quickly with decreased grasping force, thereby resulting in decreased tissue damage. However, the current system is limited by its size and its uniaxial capabilities. Thus, novel capacitive tooth sensor microarrays were developed resulting in a wider range of force sensation along with an improved ability to withstand biological environments. Based on this superior performance, we have designed a bi-axial microarray to accommodate both grasping and shear forces. The present studies will fabricate these sensor arrays, characterize and integrate them within the current HFS framework, and evaluate their impact in gastrointestinal procedures. Specifically, we focus on the RouxenY Gastric Bypass as it has recently garnered more support in translation to the robotic platform. We will evaluate the effect of auxiliary haptic feedback on grp force, shear force, anastomosis integrity, surgical duration, surgical complications, and tissue damage in a porcine model. In addition, we will perform human feasibility trials for Totally Robotic RouxenY Gastric Bypass with haptic feedback to further translate the HFS towards comprehensive clinical trials.

描述（由申请人提供）：缺乏触觉反馈已被认为是采用机器人平台的障碍，特别是在胃肠道手术期间，因为它们需要抓握和剪切感觉来执行精细的吻合和解剖。目前的提案将进一步开发触觉反馈系统（HFS）的功能，以将双轴感觉信息从手术抓握器传递到机器人平台中手术外科医生的指尖。当前的 HFS 通过压阻传感器检测抓握力，并通过气动气球执行器无线传输该信号。先前的结果表明，使用 HFS 时，外科医生可以更快地执行任务，同时减少抓握力，从而减少组织损伤。然而，当前系统受到其尺寸和单轴功能的限制。因此，开发了新型电容式牙齿传感器微阵列，从而产生更广泛的力感觉，并提高了承受生物环境的能力。基于这种卓越的性能，我们设计了一种双轴微阵列来适应抓握力和剪切力。目前的研究将制造这些传感器阵列，表征它们并将其集成到当前的 HFS 框架中，并评估它们对胃肠道手术的影响。具体来说，我们重点关注 RouxenY 胃旁路手术，因为它最近在向机器人平台的转化方面获得了更多支持。我们将在猪模型中评估辅助触觉反馈对 grp 力、剪切力、吻合完整性、手术持续时间、手术并发症和组织损伤的影响。此外，我们还将针对带有触觉反馈的完全机器人 RouxenY 胃绕道术进行人体可行性试验，以进一步将 HFS 转化为全面的临床试验。