A novel neurosurgery-specific haptic hand-controller for robot-assisted surgical systems

一种用于机器人辅助手术系统的新型神经外科专用触觉手控制器

• 批准号: 478449-2015
• 负责人: Sutherland, Garnette
• 金额: $ 5.46万
• 依托单位: University of Calgary
• 依托单位国家: 加拿大
• 项目类别: Collaborative Health Research Projects
• 财政年份: 2015
• 资助国家: 加拿大
• 起止时间: 2015-01-01 至 2016-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=579515
• 关键词: novel; neurosurgery; specific; haptic; hand

A robotic surgical system consists of a workstation, where the surgeon operates, and a surgical site, where the robotic arms execute the surgeons commands. Providing proper commands by the surgeon for the surgical robot requires sensory feedback from the surgical site. The surgeons interface, which is arguably the most integral part of any robot-assisted surgical system, is the link connecting the surgeon to their tools and environment, which can represent a significant challenge if not designed appropriately. Furthermore, it is important that this interface is transparent, intuitive and ergonomic, and streamlines the transition from conventional surgical technique to robotic surgery. For the surgeon to optimally control the robotic arms, sufficient sensory feedback is required from the surgical site. Visual and auditory data are readily reproduced at a remote workstation via cameras, monitors, speakers, and microphones. Reproducing the sense of touch remains a significant challenge. The lack of sufficient haptic feedback increases the risk of injury for patients. Sense of touch is a critical aspect of robotic surgery allowing tool-tissue interaction to be precise, accurate, safe, and intuitive. From a surgeons perspective, the hand-controller must offer the highest quality to ensure the best possible interaction between the surgeon, the robot, and the patient. Therefore, the proposed research will develop a novel haptic hand- controller capable of providing enhanced tactile feedback not currently available in existing hand-controllers.

机器人手术系统由外科医生操作的工作站和机器人手臂所在的手术部位组成 执行外科医生的命令。外科医生为手术机器人提供正确的命令需要感官 来自手术部位的反馈。外科医生界面可以说是任何机器人辅助中最不可或缺的部分 手术系统是连接外科医生与其工具和环境的纽带，可以代表重要的 如果设计不当，就会面临挑战。此外，重要的是这个界面是透明的、直观的和 符合人体工程学，并简化了从传统手术技术到机器人手术的过渡。对于外科医生来说 为了最佳地控制机械臂，需要来自手术部位的足够的感觉反馈。视觉和听觉数据是 通过摄像头、监视器、扬声器和麦克风在远程工作站上轻松再现。再现感觉 触摸仍然是一个重大挑战。缺乏足够的触觉反馈会增加患者受伤的风险。感觉 触摸是机器人手术的一个重要方面，使工具与组织的相互作用能够精确、准确、安全和直观。来自一个 从外科医生的角度来看，手持控制器必须提供最高的质量，以确保手术之间的最佳交互 外科医生、机器人和患者。因此，拟议的研究将开发一种新型触觉手控制器，能够 提供现有手持控制器目前不具备的增强触觉反馈。