机器人辅助微创手术系统的触诊功能实验  

Experiments Research on Touch Function of Robot Assisted Minimally Invasive Surgery System

作　　者：李云峰[1] Bijan Shirinzadeh 沈惠平[1] Mohesn Moradi Dalvand LI Yunfeng;Bijan Shirinzadeh;SHEN Huiping;Mohesn Moradi Dalvand(Robotics Institute of Changzhou University,Changzhou University,Changzhou Jiangsu 213164,China;Department of Mechanical and Aerospace Engineering,Monash University,Australia)

机构地区：[1]常州大学机器人研究所,江苏常州213164 [2]莫纳什大学机械与航空航天工程系,澳大利亚

出　　处：《机械设计与研究》2018年第4期9-13,共5页Machine Design And Research

基　　金：机器人技术与系统国家重点实验室开放研究项目资助(SKLRS-2010-2D-10,SKLRS-2010-MS-09)

摘　　要：机器人辅助微创手术系统中的触诊功能的实现对提高手术效率,减少术中对非病变组织的创伤有重要意义。针对已研制的机器人辅助微创手术系统中的触诊模块进行性能测试,一是用于测量微器械在手术中夹持器官组织时产生的夹持力的夹持力测量系统,一是用于测量微器械与非夹持器官组织接触时产生的相互作用的接触力的接触力测量系统。通过实验分析了系统的精度和性能,为系统的进一步优化提供依据。In the robot assisted minimally invasive surgerysystem（ RAMISS） force feedback,that is touch fuction,can assist the surgeon to perform the surgical task efficiently with less trauma. Performance tests on force measuring systems of one developed RAMISS were done in this paper. There were three force measuring systems. One was for measuring the grasp-force and another two were for measuring the contact force between surgical instrument and non-clamping-tissues. The precision and performance of the system were analized based on calibration and repeatability experiments,which could provide a basis for further optimization of the system.

关 键 词：机器人辅助微创手术系统 触诊 力测量系统 实验研究 应变传感器 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]