Haptic Feedback for Robot-Assisted Surgical Systems

机器人辅助手术系统的触觉反馈

• 批准号: 6717590
• 负责人: Allison Mariko Okamura
• 金额: $ 23.34万
• 依托单位: JOHNS HOPKINS UNIVERSITY
• 依托单位国家: 美国
• 财政年份: 2003
• 资助国家: 美国
• 起止时间: 2003-09-30 至 2007-07-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/6717590
• 关键词: bioimaging /biomedical imaging; clinical research; computer human interaction; computer simulation; evaluation /testing; health care personnel performance; heart surgery; human subject; image guided surgery /therapy; outcomes research; phantom model; robotics; sensory discrimination; surgery material /equipment; technology /technique development; time resolved data; touch

DESCRIPTION (provided by applicant): Cardiac surgery is traditionally performed through a median sternotomy, providing optimal access to all cardiac structures and great vessels, but generating significant disfigurement and pain for the patient. The advent of robot-assisted minimally invasive surgery (MIS) holds great promise for improving the accuracy and dexterity of a surgeon while minimizing trauma to the patient. However, clinical success with robot-assisted cardiac MIS has been marginal; improved patlent outcomes and mitigated costs have not been proven. We hypothesize that this is due in large part to the lack of haptic feedback presented to the surgeon. Without the sense of touch naturally used in surgical tasks such as fine suture manipulation, surgeon performance is jeopardized. The general objective of the proposed research is to acquire and use haptic information during robot-assisted minimally invasive surgery, with a focus on manipulation of fine sutures. It is anticipated that this approach will offer two main benefits over current systems: (1) forces will be fed back to the user in real time, directly or through sensory substitution, improving task performance, and (2) haptic information will be used to create automatic virtual fixtures that assist the surgeon, e.g., by prevention of excessive applied suture forces and maintenance of constant retraction forces. The specific aims are: (1) to understand the sensing requirements for minimally invasive surgical tasks, (2) to test different modes of haptic feedback in robot-assisted minimally invasive surgical environment, (3) to create virtual fixtures that augment and improve the execution of surgical tasks, and (4) to apply feedback of haptic information during phantom experiments, creating a direct path to clinical applications. These specific aims contribute to a Iong-term research plan for using haptic information in robot-assisted minimally invasive surgery. The proposed work represents the development of operative technology that can provide significant improvements in patient outcomes, as well as Iay the groundwork necessary to address several other exciting research issues such as beating-heart (off-pump) procedures, procedure and tissue models, and virtual environments for training.

描述（由申请人提供）： 传统上，心脏手术是通过正中胸骨切开术进行的，可提供到达所有心脏结构和大血管的最佳通道，但会给患者带来严重的毁容和疼痛。机器人辅助微创手术（MIS）的出现为提高外科医生的准确性和灵巧性同时最大限度地减少患者的创伤带来了巨大的希望。然而，机器人辅助心脏 MIS 的临床成功率还很有限。专利成果的改善和成本的降低尚未得到证实。我们假设这在很大程度上是由于缺乏向外科医生提供的触觉反馈。如果没有在精细缝合操作等手术任务中自然使用的触觉，外科医生的表现就会受到影响。拟议研究的总体目标是在机器人辅助微创手术期间获取和使用触觉信息，重点是精细缝合线的操作。预计这种方法将比当前系统提供两个主要好处：（1）力将直接或通过感觉替代实时反馈给用户，从而提高任务绩效；（2）触觉信息将用于创建自动虚拟固定装置，以帮助外科医生，例如，通过防止过度施加缝合力和维持恒定的牵拉力。具体目标是：（1）了解微创手术任务的传感要求，（2）在机器人辅助微创手术环境中测试不同的触觉反馈模式，（3）创建增强和改善手术任务执行的虚拟固定装置，以及（4）在体模实验中应用触觉信息反馈，为临床应用创造直接途径。这些具体目标有助于制定在机器人辅助微创手术中使用触觉信息的长期研究计划。拟议的工作代表了手术技术的发展，可以显着改善患者的治疗效果，并为解决其他几个令人兴奋的研究问题奠定了必要的基础，例如心脏跳动（非体外循环）手术、手术和组织模型以及培训虚拟环境。