微创手术机器人力检测与力反馈技术研究现状  

A Survey of Force Sensing and Force Feedback Technology for Robot-assisted Minimally Invasive Surgical System

作　　者：付宜利[1] 李坤[1] 潘博[1] 詹军成 王树国[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《机器人》2014年第1期117-128,共12页Robot

基　　金：国家863计划资助项目(SS2012AA041601)

摘　　要：在外科手术中力觉发挥着重要的作用,可以为医生提供组织刚度、肿瘤位置等信息,防止医生用力过度对正常的组织造成损害,在进行一些精细操作时可令医生施加合适的作用力.然而,现有微创手术机器人在克服微创手术诸多不足为医生提供巨大帮助的同时,却令医生丧失了与患者组织之间接触时产生的交互作用力信息,给患者组织带来了过度创伤和损害.为了使医生重新获得接触力信息,研究人员利用各种检测方法和反馈技术将力觉信息引入到微创手术机器人系统中,包括基于电阻和光纤的直接检测技术,基于位移和执行器输入量的间接检测技术,以及直接反馈和感知替代两种力反馈方法.本文对微创手术机器人力检测和力反馈两项关键技术的研究现状进行总结,并对这两项技术的发展趋势进行展望.Force information plays an important role in surgery. It enables the surgeon to feel tissue properties such as tissue stiffness, tumor localization, prevents the surgeon to apply excessive force to normal tissues, and allows him or her to commit appropriate force control actions in precise manipulation. Though existing RMIS system （robot-assisted minimally invasive surgical system） overcomes many limitations of MIS （minimally invasive surgery） techniques and provides surgeon with great help, the surgeon loses the interaction between the surgical instrument and tissue, which may lead to increasing of tissue trauma or damage. In order to restore the force information to the surgeon, researchers have applied various force sensing methods and force feedback techniques （including resistance-based sensing, optical-fiber-based sensing, displacement-based sensing, actuator-input-based sensing, direct force feedback, and sensory substitution） to provide the force information in RMIS system. This paper reviews and analyzes state-of-the-art in force sensing and force feedback technologies applied in RMIS system, and presents the future work in this subiect.

关 键 词：微创手术机器人 力检测技术 力反馈技术 研究现状 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]