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: 9314570
• 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 2019-06-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/9314570
• 关键词: Adoption; Anastomosis - action; Biological; Biomechanics; Clinical; Clinical Trials; Complex; Computer software; Development; Dimensions; Dissection; Environment; Esthesia; Evaluation; Family suidae; Feasibility Studies; Feedback; Gastric Bypass; Gastrointestinal Surgical Procedures; Histologic; Human; Measures; Modeling; Morbidity - disease rate; Operative Surgical Procedures; Outcome; Outcome Measure; Performance; Procedures; Reporting; Robot; Robotics; Safety; Sensory; Signal Transduction; Surface; Surgeon; Surgical complication; Surgical sutures; System; Testing; Tissues; Tooth structure; Translating; Translations; Wireless Technology; Work; base; design; experimental study; gastrointestinal; grasp; haptics; human subject; improved; in vivo; novel; pre-clinical; public health relevance; safety and feasibility; 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）：缺乏触觉反馈已被确定为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闭合和解剖。本提案将进一步开发触觉反馈系统（HFS）的能力，以将该双轴感觉信息从手术抓钳传递到机器人平台中的手术外科医生的指尖。目前的HFS通过压阻传感器检测抓取力，通过气动气球致动器无线传输此信号。先前的结果表明，当使用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，目前的系统受到其尺寸和单轴能力的限制。因此，开发了新颖的电容式牙齿传感器微阵列，从而导致更宽范围的力感沿着具有改进的耐受生物环境的能力。基于这种上级性能，我们设计了一个双轴微阵列，以适应抓持和剪切力。目前的研究将制造这些传感器阵列，表征和集成在当前的HFS框架内，并评估其在胃肠道手术中的影响。具体来说，我们专注于RouxenY胃旁路，因为它最近在转换到机器人平台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，我们还将进行全机器人RouxenY胃旁路手术的人体可行性试验，并提供触觉反馈，以进一步将HFS转化为全面的临床试验。

项目成果

Bio-Inspired Haptic Feedback for Artificial Palpation in Robotic Surgery.

• DOI: 10.1109/tbme.2021.3076094
• 发表时间: 2021-10
• 期刊: IEEE transactions on bio-medical engineering
• 作者: Ouyang Q;Wu J;Sun S;Pensa J;Abiri A;Dutson E;Bisley J
• 通讯作者: Bisley J

A Simplified Model for Simulating Population Responses of Tactile Afferents and Receptors in the Skin.

• DOI: 10.1109/tbme.2020.3007397
• 发表时间: 2021-03
• 期刊: IEEE transactions on bio-medical engineering
• 作者: Ouyang Q;Wu J;Shao Z;Chen D;Bisley JW
• 通讯作者: Bisley JW

Tensile strength and failure load of sutures for robotic surgery.

• DOI: 10.1007/s00464-016-5356-1
• 发表时间: 2017-08
• 期刊: Surgical endoscopy
• 作者: Abiri A;Paydar O;Tao A;LaRocca M;Liu K;Genovese B;Candler R;Grundfest WS;Dutson EP
• 通讯作者: Dutson EP