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: 2020
• 资助国家: 加拿大
• 起止时间: 2020-01-01 至 2021-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=710328
• 关键词: Micromechatronics; Surgery; Haptic; sensors; feedback

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. Normal 0 false false false EN-US X-NONE X-NONE MicrosoftInternetExplorer4

800x600 触觉件 一般指触摸反馈，包括动觉（力）和 皮肤（触觉）反馈。由于直接操作和触诊组织 在手动微创手术（MIS）中不可能，反馈 关于触觉组织特性的信息被显著地减少。的 据报道，MIS中缺乏支撑襻反馈导致术中 损伤 在遥控操作中最小 有创机器人辅助手术（MIRS），所有自然触觉反馈 由于外科医生不再操作器械，因此消除 直接. 缺乏有效的触觉 外科医生和机器人研究人员都报告反馈是 对当前MIRS系统的限制。恢复了外科医生对 一种能够提供人工触觉反馈（ATF）的触通装置 这是一个应用研究和发展的活跃领域。 的主要目标 目前提出的研究是设计和制造创新的 触觉传感器和触觉反馈系统，其满足 MIS和MIRS。本申请人在该领域拥有一项专利，名称为“用于 感知和显示力和柔度”（美国，2013年第8，596，111号公报）。此外，本申请人还有一项名为“用于感测样品的机械特性的系统”的专利申请（美国。20130220032年第32号文件）。这些 专利/专利申请极大地扩展了现有技术。研究计划 将以申请人过去在以下方面的经验和成功为基础 开发触觉传感和反馈系统， 具有创新物理触觉的微机械触觉传感技术 显示系统，这将解决当前外科手术对 在管理信息系统和信息和遥感系统中的有效运作。 此外，研究的结果可 也可用于一般机器人。例如，触觉或微触觉传感器 可以放置在汽车中的机器人操纵器的手指上， 航空航天、制药和造纸工业以及食品和饮料 处理.此外，组合的动觉力和柔软度反馈将 无论在娱乐业还是在任何行业都有着巨大的市场 使用远程操作或虚拟现实的技术。 正常 0 假 假 假 EN-US X-无 X-无 微软互联网资源管理器4