Micromechatronics in Surgery: Haptic sensors and feedback systems for minimally invasive surgery, medical devices and robotics

手术中的微机电一体化：用于微创手术、医疗设备和机器人的触觉传感器和反馈系统

• 批准号: RGPIN-2016-06620
• 负责人: Dargahi, Javad
• 金额: $ 2.11万
• 依托单位: Concordia University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2016
• 资助国家: 加拿大
• 起止时间: 2016-01-01 至 2017-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=616416
• 关键词: Micromechatronics; Surgery; Haptic; sensors; feedback

Haptics generally refers to touch feedback, which includes Kinesthetic (force) and Cutaneous (tactile) feedback. Since direct manipulation and palpation of tissue is not possible in manual Minimally Invasive Surgery (MIS), feedback information about tactile tissue properties is considerably diminished. The lack of haptics feedback in MIS has reportedly resulted in intraoperative injury. In teleoperated Minimally Invasive Robotic-assisted Surgery (MIRS), all natural haptics feedback is eliminated because the surgeon no longer manipulates the instrument directly. The lack of effective haptics feedback is reported by surgeons and robotics researchers alike to be a major limitation to current MIRS systems. Restoring part of the surgeon’s sense of touch through devices capable of providing Artificial Tactile Feedback (ATF) is an active field of applied research and development. The primary objectives of the presently proposed research are to design and fabricate innovative tactile sensors and haptics feedback systems that satisfy the current need of MIS and MIRS. The applicant has a patent in this area entitled: “Systems for Sensing and Displaying Force and Softness” (United States. 20138,596,111). In addition, the applicant has a patent application entitled "System for Sensing a Mechanical Property of a Sample", (United States. 20130220032). These patents/patent application considerably expand the current technology. The research program proposed here will build upon the applicant’s past experience and success in developing tactile sensing and feedback systems to combine fully-optical, micro-machined tactile sensing techniques with innovative physical tactile display systems, which will address serious current surgical needs for effective operations in MIS and MIRS. Moreover, the outcome of the research could also be used in general robotics. For example, tactile or microtactile sensors could be placed on the fingers of the robotic manipulators in the automotive, aerospace, pharmaceutical, and paper industries as well as in food and beverage processing. In addition, combined kinesthetic force and softness feedback would have a huge market in the entertainment industry as well as in any industries that use tele-manipulation or deal with virtual reality.

触觉 一般指触摸反馈，包括动觉(力)和 皮肤(触觉)反馈。由于组织的直接操作和触诊 在手动微创手术(MIS)中是不可能的，反馈 有关触觉组织属性的信息大大减少。这个 据报道，在管理信息系统中缺乏触觉反馈导致了术中 受伤。在最小限度的遥操作中 侵入性机器人辅助手术(MIRS)，所有自然触觉反馈是 因为外科医生不再操纵器械而被淘汰 直接去吧。缺乏有效的触觉 外科医生和机器人研究人员都报告说，反馈是一种主要的 对当前MIRS系统的限制。部分恢复了外科医生的 能够提供人工触觉反馈(ATF)的触摸设备是 一个活跃的应用研究和开发领域。 该计划的主要目标 目前提出的研究是设计和制造创新的 满足当前需求的触觉传感器和触觉反馈系统 MIS和MIRS。申请人在这一领域拥有一项专利，标题为： 感知和展示力量和柔软度“(美国。20138,596,111)。此外，申请人还有一项专利申请，题为“检测样品的机械性能的系统”，(美国。20130220032)。这些 专利/专利申请大大扩展了当前的技术。研究计划 这里提出的建议将建立在申请人过去的经验和在 开发触觉传感和反馈系统，将全光学、 具有创新物理触觉的微机械触觉传感技术 显示系统，这将满足当前严重的外科需求 管理信息系统和MIRS的有效运作。此外，这项研究的结果可能 也可用于一般机器人技术。例如，触觉或微触觉传感器 可以放置在汽车中的机器人操作器的手指上， 航空航天、制药和造纸工业以及食品和饮料行业 正在处理。此外，动觉力和柔软度的组合反馈将 在娱乐业和任何行业都有巨大的市场 使用远程操纵或处理虚拟现实的人。