Design and development of a low cost grasping and torque haptic feedback system for spinal surgical training simulators

设计和开发用于脊柱手术训练模拟器的低成本抓取和扭矩触觉反馈系统

• 批准号: 486439-2015
• 负责人: Dargahi, Javad
• 金额: $ 1.82万
• 依托单位: Concordia University
• 依托单位国家: 加拿大
• 项目类别: Engage Grants Program
• 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=585604
• 关键词: Design; development; low; cost; grasping

Haptic feedback is the use of the sense of touch in a user interface design to provide information to an end user. There is a growing need for a haptic device that can provide the user with a virtual surgical tool that is capable of providing an accurate force and torque feedback OSSim Technologies is currently developing a VR training simulator for complex open spinal surgeries based on the current technological platform. Typical simulation spinal surgeries scenarios use manual virtual tools and it is desirable to haptically represent the frequent tasks of soft tissues grasping or the torque feedback arising from the inserting of pedicle screws and bolts during a spinal fusion. The motivation of this research project is to provide two additional degrees of freedom (DOF) to the existing haptic rendering virtual environment. In fact, while the actual knee surgery simulator, which includes a custom made 5-DOF from Commercial-Off-The-Shelf haptic devices, can provide force retroaction such as powered drilling and sawing through bones, it does not provide the range of capabilities required by open spinal surgeries procedures. The proposed approach is to increase the number of DOF, and to achieve a 6-DOF attachment haptic device. The 6-DOF is the combination of the existing actual 5-DOF components with a 1-DOF torque or 1-DOF grasping, custom attachments. The 1st DOF torque (roll axis) mechanism shall be designed and developed to provide feedback relating to the exerted torque in the twisting motion and the 2nd DOF grasping mechanism shall be able to characterize grasping tasks and generate force feedback that can be felt through a haptic interface device thereby allowing the medical residents to feel the stiffness of the spine soft tissues that is being grasped or cut. The outcome of this project will allow better training of resident orthopaedic surgeons thus leading to better patient care, reduced surgical errors, and lower healthcare costs

触觉反馈是在用户界面设计中使用触觉来向最终用户提供信息。 越来越需要一种能够向用户提供能够 提供准确的力和扭矩反馈 OSSim Technologies目前正在开发一种VR培训模拟器，用于复杂的开放式脊柱手术 在当前的技术平台上。典型的模拟脊柱手术场景使用手动虚拟工具 并且期望触觉地表示软组织抓取或扭矩反馈的频繁任务 在脊柱融合术中插入椎弓根螺钉和螺栓引起的。这项研究的动机 项目是为现有的虚拟触觉渲染提供两个额外的自由度(DOF 环境。事实上，虽然实际的膝盖手术模拟器，其中包括一个定制的5自由度来自 商用现成的触觉设备，可以提供力量反作用，如动力钻探和锯切 通过骨骼，它不能提供开放脊柱外科手术所需的一系列功能。这个 提出的方法是增加自由度，实现六自由度附着式触觉装置。这个 6自由度是现有的实际5自由度部件与1自由度扭矩或1自由度抓取的组合， 自定义附件。第一自由度扭矩(滚动轴)机构的设计和开发应提供 与扭转运动和第二自由度抓取机构中施加的扭矩有关的反馈应为 能够表征抓取任务并产生可通过触觉接口设备感受到的力反馈 从而让住院医师感受到被抓住或割断的脊柱软组织的僵硬。 该项目的成果将使住院整形外科医生得到更好的培训，从而导致更好的 患者护理、减少手术差错和降低医疗成本