A novel neurosurgery-specific haptic hand-controller for robot-assisted surgical systems

机器人外科手术系统由外科医生操作的工作站和机械臂所在的外科手术部位组成。 执行外科医生的命令。外科医生为手术机器人提供适当的命令需要感官 手术现场的反馈。外科医生的界面，可以说是任何机器人辅助的最不可或缺的部分 手术系统，是连接外科医生与他们的工具和环境的纽带，这可以代表一个重要的 挑战，如果设计不当的话。此外，重要的是这个界面是透明、直观和 符合人体工程学，并简化了从传统手术技术到机器人手术的过渡。对于外科医生来说 要以最佳方式控制机械臂，手术部位需要有足够的感觉反馈。视觉和听觉数据是 通过摄像机、监视器、扬声器和麦克风在远程工作站上轻松复制。再现……的感觉 触摸仍然是一个巨大的挑战。缺乏足够的触觉反馈会增加患者受伤的风险。感官 触摸是机器人手术的一个关键方面，它允许工具与组织的精确、准确、安全和直观的交互。从一个 从外科医生的角度来看，手控器必须提供最高质量，以确保 外科医生、机器人和病人。因此，提出的研究将开发一种新型的触觉手控制器，能够 提供增强的触觉反馈，目前在现有的手控制器中不可用。

A robotic surgical system consists of a workstation, where the surgeon operates, and a surgical site, where the robotic arms execute the surgeons commands. Providing proper commands by the surgeon for the surgical robot requires sensory feedback from the surgical site. The surgeons interface, which is arguably the most integral part of any robot-assisted surgical system, is the link connecting the surgeon to their tools and environment, which can represent a significant challenge if not designed appropriately. Furthermore, it is important that this interface is transparent, intuitive and ergonomic, and streamlines the transition from conventional surgical technique to robotic surgery. For the surgeon to optimally control the robotic arms, sufficient sensory feedback is required from the surgical site. Visual and auditory data are readily reproduced at a remote workstation via cameras, monitors, speakers, and microphones. Reproducing the sense of touch remains a significant challenge. The lack of sufficient haptic feedback increases the risk of injury for patients. Sense of touch is a critical aspect of robotic surgery allowing tool-tissue interaction to be precise, accurate, safe, and intuitive. From a surgeons perspective, the hand-controller must offer the highest quality to ensure the best possible interaction between the surgeon, the robot, and the patient. Therefore, the proposed research will develop a novel haptic hand- controller capable of providing enhanced tactile feedback not currently available in existing hand-controllers.