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

描述（由申请人提供）：缺乏触觉反馈已被确定为采用机器人平台的障碍，特别是在胃肠手术中，因为它们需要抓握和剪切感觉来进行精细的吻合和解剖。目前的提案将进一步发展触觉反馈系统（HFS）的能力，将这种双轴感觉信息从手术抓手传递到机器人平台上的外科医生的指尖。目前的HFS通过压阻式传感器检测抓取力，并通过气动气球执行器无线传输该信号。先前的结果表明，当使用HFS时，外科医生可以更快地执行任务，减少抓握力，从而减少组织损伤。然而，目前的系统受到其尺寸和单轴能力的限制。因此，新型的电容式牙齿传感器微阵列被开发出来，从而产生更大范围的力感，并提高了承受生物环境的能力。基于这种优越的性能，我们设计了一个双轴微阵列来适应抓取和剪切力。目前的研究将制造这些传感器阵列，在当前的HFS框架内表征和整合它们，并评估它们在胃肠道手术中的影响。具体来说，我们专注于RouxenY胃旁路手术，因为它最近在机器人平台上获得了更多的支持。我们将在猪模型中评估辅助触觉反馈对抓握力、剪切力、吻合完整性、手术时间、手术并发症和组织损伤的影响。此外，我们将对带有触觉反馈的完全机器人RouxenY胃旁路进行人体可行性试验，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.