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

* * 800 x600 *Haptics* 一般指触摸反馈，包括动觉（力）和皮肤（触觉）反馈。由于在手动微创手术（MIS）中不可能直接操纵和触诊组织 *，因此关于触觉组织属性的反馈 * 信息大大减少。据报告，MIS中缺乏支撑襻反馈导致术中损伤。 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器械。 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应用研究和开发的一个活跃领域。* 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 *MIS和MIRS的当前需求。本申请人在该领域中拥有一项专利，名称为：“Systems for*Sensing and Sensing Force and Softness”（美国）。20138，596，111）。此外，申请人还具有题为“System for Sensing a Mechanical Property of a Sample”的专利申请（美国）。20130220032）。这些专利/专利申请大大扩展了现有技术。这里提出的研究计划 * 将建立在申请人过去的经验和成功 * 开发触觉传感和反馈系统，结合联合收割机全光学，* 微加工触觉传感技术与创新的物理触觉 * 显示系统，这将解决严重的当前手术需求 * 有效的操作MIS和MIRS。 此外，这项研究的成果也可以用于一般的机器人技术。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 * 加工中的机器人操纵器的手指上。此外，结合动觉力和柔软反馈将 * 在娱乐业以及任何使用远程操纵或处理虚拟现实的行业 * 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.