应变计
手术机器人
机器人末端执行器
偏转(物理)
机器人
机械人手术
制作
计算机科学
机械加工
外科手术
机械工程
外科
生物医学工程
人工智能
工程类
物理
电气工程
医学
光学
病理
替代医学
作者
Rut Peña,Michael J. Smith,Nicolas P. Ontiveros,Frank L. Hammond,Robert J. Wood
标识
DOI:10.1109/iros.2018.8594517
摘要
Force feedback during robotic surgery is critical in order to minimize potential injury to the patient and decrease recovery time from surgical procedures. Here we describe the use of a novel strain gauge printing method to apply low profile, low cost sensors directly to the surface of da Vinci surgical robot end effectors (Intuitive Surgical, Inc.) to sense deflection and provide force feedback. This additive, vapor-deposition-based sensor fabrication method is used to deposit strain gauges directly onto the surfaces of the end effectors with minimal disruption to the device and without the need for adhesives or machining operations. Initial experiments characterize sensor performance and indicate the applicability of the proposed approach for force feedback during minimally invasive procedures.
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