Haptic Feedback for Robotic Surgery using bi-axial capacitive force sensors

描述(申请人提供)：缺乏触觉反馈已被确定为采用机器人平台的障碍，特别是在胃肠道手术中，因为它们需要抓取和剪切感觉来执行精细的吻合和解剖。本提案将进一步开发触觉反馈系统(HFS)的能力，以将这种双向感觉信息从手术抓手传递到机器人平台中的手术外科医生的指尖。目前的HFS通过压阻式传感器检测抓持力，并通过气动气球执行器无线传输信号。以前的结果表明，使用HFS时，外科医生执行任务的速度更快，抓取力更小，因此减少了组织损伤。然而，目前的系统受到其尺寸和单轴能力的限制。因此，新型电容式牙齿传感器微阵列被开发出来，从而产生更广泛的力感觉以及更好的抵抗生物环境的能力。基于这种卓越的性能，我们设计了一种能够同时适应抓力和剪切力的双向微阵列。本研究将制造这些传感器阵列，在当前的HFS框架内对它们进行表征和集成，并评估它们在胃肠道手术中的影响。具体地说，我们将重点放在RouhenY胃分流术上，因为它最近在翻译到机器人平台方面获得了更多的支持。我们将在一个猪模型中评估辅助触觉反馈对GRP力、剪切力、吻合口完整性、手术时间、手术并发症和组织损伤的影响。此外，我们将进行具有触觉反馈的完全机器人RouxiY胃旁路手术的人体可行性试验，以进一步将HFS转化为全面的临床试验。

DESCRIPTION (provided by applicant): Lack of haptic feedback has been identified as a barrier to adoption of robotic platforms, particularly during gastrointestinal procedures as they require both grasping and shear sensation to perform delicate anastomoses and dissections. The present proposal will further develop the capabilities of a Haptic Feedback System (HFS) to deliver this bi-axial sensory information from the surgical graspers to the fingertips of the operating surgeon in a robotic platform. The current HFS detects grasping forces via piezoresistive sensors, delivering this signal wirelessly through pneumatic balloon actuators. Previous results have shown that when using the HFS surgeons perform tasks more quickly with decreased grasping force, thereby resulting in decreased tissue damage. However, the current system is limited by its size and its uniaxial capabilities. Thus, novel capacitive tooth sensor microarrays were developed resulting in a wider range of force sensation along with an improved ability to withstand biological environments. Based on this superior performance, we have designed a bi-axial microarray to accommodate both grasping and shear forces. The present studies will fabricate these sensor arrays, characterize and integrate them within the current HFS framework, and evaluate their impact in gastrointestinal procedures. Specifically, we focus on the RouxenY Gastric Bypass as it has recently garnered more support in translation to the robotic platform. We will evaluate the effect of auxiliary haptic feedback on grp force, shear force, anastomosis integrity, surgical duration, surgical complications, and tissue damage in a porcine model. In addition, we will perform human feasibility trials for Totally Robotic RouxenY Gastric Bypass with haptic feedback to further translate the HFS towards comprehensive clinical trials.