镊子
手术器械
运动学
机械人手术
侵入性外科
扭矩
机器人
计算机科学
手术机器人
触觉技术
生物医学工程
模拟
工程类
机械工程
外科
人工智能
医学
物理
经典力学
热力学
作者
Uikyum Kim,Yong Bum Kim,Jinho So,Dong-Yeop Seok,Hyouk Ryeol Choi
出处
期刊:IEEE Transactions on Industrial Electronics
[Institute of Electrical and Electronics Engineers]
日期:2018-12-01
卷期号:65 (12): 9604-9613
被引量:82
标识
DOI:10.1109/tie.2018.2821626
摘要
A novel force-sensing mechanism for surgical robotic systems is required for further innovation of robotic-assisted minimally invasive surgery (RMIS). In this paper, novel sensorized surgical forceps are presented with five-degree-of-freedom (5-DOF) force/torque (F/T) sensing capability: a grasping force, a 3-DOF manipulating force, and a rotational torque acting at the forceps. Two compact 3-DOF force sensors are integrated into the proximal region on two jaws of the forceps to measure 5-DOF F/T. The forceps also present important advantages for actual use in RMIS, such as miniaturization, compatible configuration to various shapes of surgical forceps, and packaged sensor electronics. In this study, the forceps are designed and manufactured at a low cost and are even disposable. To evaluate the forceps in a surgical robotic environment, the instrument is installed in a surgical robot, named S-Surge. In the environment, the 5-DOF F/T sensing capability is evaluated through comparison with reference sensors.
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