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

**800x600*触觉*一般指触觉反馈，包括动觉(力)和*皮肤(触觉)反馈。由于在手动微创手术中无法直接操纵和触诊组织*，因此有关触觉组织属性的反馈信息会大大减少。据报道，在管理信息系统中缺乏触觉反馈已经导致了术中损伤。在远程操作的微创机器人辅助手术(MIRS)中，所有自然的触觉反馈都被消除了，因为外科医生不再直接操纵仪器。外科医生和机器人研究人员都报告说，缺乏有效的触觉反馈是目前MIRS系统的主要限制。通过能够提供人工触觉反馈(ATF)的设备恢复外科医生的部分触觉是一个活跃的应用研究和开发领域。目前提出的研究的主要目标是设计和制造创新的触觉传感器和触觉反馈系统，以满足目前的管理信息系统和MIRS的需求。申请人在这一领域拥有一项专利：“*传感和显示力和柔软度的系统”(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/专利申请极大地扩展了当前的技术。这里提出的研究计划将建立在申请者过去在*开发触觉传感和反馈系统方面的经验和成功的基础上，将全光学、微机械触觉传感技术与创新的物理触觉*显示系统相结合，这将满足当前对管理信息系统和MIRS有效手术的严重外科需求。此外，这项研究的结果也可以用于一般的机器人学。例如，触觉或微触觉传感器*可以放置在汽车、航空航天、制药和造纸工业以及食品和饮料加工*的机器人机械手的手指上。此外，动觉和柔软度相结合的反馈在娱乐业以及任何使用遥控器或处理虚拟现实的行业都将拥有巨大的市场。

* * 800x600* **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.