论文标题
用于机器人辅助的微创手术研究的模块化3度力传感器
A Modular 3-Degree-of-Freedom Force Sensor for Robot-assisted Minimally Invasive Surgery Research
论文作者
论文摘要
组织操作过程中有效的力调节对于确保安全机器人辅助的微创手术（RMI）很重要。对体内远端力传感的严格要求导致了先前的传感器设计，从而使沿工具轴的力测量精度易于制造和集成。这些局限性使研究人员无法访问RMI的高质量3度（3-DOF）双人力数据。我们提出了一个模块化且可制造的3-DOF力传感器，可轻松地与现有的RMIS工具集成。我们通过放松生物相容性和无菌性要求来实现这一目标，同时利用商业负载电池和常见的机电制造技术。传感器的轴向 +-5 n的范围为 +-5 n，侧向 +-3 n，平均均方根误差（RMS）在所有方向上低于0.15 n。在遥控的模拟组织操纵任务中，一对颚式传感器的平均RMS在所有方向上达到了0.15 N以下。对于握力，它达到了0.156 N的RMSE。该传感器在精致的操纵任务中发现的力范围内具有足够的精度，并有潜在地用于双歧性触觉反馈和机器人力控制。作为一种开源设计，可以对传感器进行调整以适合RMI之外的其他机器人应用。
Effective force modulation during tissue manipulation is important for ensuring safe robot-assisted minimally invasive surgery (RMIS). Strict requirements for in-vivo distal force sensing have led to prior sensor designs that trade off ease of manufacture and integration against force measurement accuracy along the tool axis. These limitations have made collecting high-quality 3-degree-of-freedom (3-DoF) bimanual force data in RMIS inaccessible to researchers. We present a modular and manufacturable 3-DoF force sensor that integrates easily with an existing RMIS tool. We achieve this by relaxing biocompatibility and sterilizability requirements while utilizing commercial load cells and common electromechanical fabrication techniques. The sensor has a range of +-5 N axially and +-3 N laterally with average root mean square errors(RMSEs) of below 0.15 N in all directions. During teleoperated mock tissue manipulation tasks, a pair of jaw-mounted sensors achieved average RMSEs of below 0.15 N in all directions. For grip force, it achieved an RMSE of 0.156 N. The sensor has sufficient accuracy within the range of forces found in delicate manipulation tasks, with potential use in bimanual haptic feedback and robotic force control. As an open-source design, the sensors can be adapted to suit additional robotic applications outside of RMIS.
