Haptically Enhanced Control of Minimally Invasive Tools

微创工具的触觉增强控制

• 批准号: 6886391
• 负责人: JAMES Hunter GOLDIE
• 金额: $ 15.48万
• 依托单位: INFOSCITEX CORPORATION
• 依托单位国家: 美国
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-09-10 至 2007-02-28
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/6886391
• 关键词: biomedical equipment development; laparoscopy; mechanical pressure; surgery material /equipment; touch

DESCRIPTION (provided by applicant): A device is proposed to enhance a surgeon's awareness of loads present at their tool tips during minimally invasive surgery (MIS). This work is motivated by the need within the laparoscopic surgical community to continue improvement of MIS techniques. While skilled surgeons are able to sufficiently compensate, they continue to express the need for better haptic feedback. Currently, they must rely heavily on visual cues in the absence of proper tip load perception. The concept centers on using off-the-shelf tools and trocars in an active device capable of sensing confounding loads on the tool from both the trocar port and the patient's body. Active counterbalancing of these relatively large forces will unmask the relatively smaller forces present at the surgical site, improving perception and control during surgery. A useful analogy can be found in noise-canceling headphones. These devices employ sensors to detect unwanted noise and transmit cancellation signals which are exactly opposite in phase, thereby providing a more pure, uncluttered sound. Initially, the project will focus on just one degree of freedom (DOF), namely the axial in/out dimension with respect to the tool. As proof of feasibility, construction of a prototype device, verification of system performance and effectiveness, and assessment of a 4DOF design will be accomplished during Phase I. Construction and testing of the 4DOF final product will occur in Phase II. The device described here can yield improved performance in existing surgeries and pave the way for expansion of minimally invasive techniques into new areas. The device will have commercial potential as a single, stand-alone alternative to robotics that can improve results and lessen the need to purchase new tools, rebuild operating rooms, or alter tried and true surgical methods. The team of engineers, clinicians, and scientists at Foster-Miller, Lahey Clinic, and Emory University Hospital is uniquely qualified to successfully create the system for they have previously built the basic technologies required, refined MIS technologies in the OR, and delineated human surgical performance using MIS technologies.

描述（由申请人提供）： 提出了一种设备，以提高外科医生对在微创手术（MIS）中工具尖端中载荷的认识。这项工作是由于腹腔镜外科界需要继续改进错误技术的动机。尽管熟练的外科医生能够足够补偿，但他们继续表示需要更好的触觉反馈。目前，在没有适当的尖端负载感知的情况下，它们必须严重依赖视觉提示。 该概念集中在使用现成的工具和套管器中的活动设备中，能够感知套管卡端口和患者身体上的工具上的负载。这些相对较大的力的积极平衡将揭示手术部位上存在的相对较小的力，从而改善了手术期间的感知和控制。可以在噪音降噪耳机中找到一个有用的类比。 这些设备采用传感器来检测不需要的噪声并传输取消信号，这些信号在相位恰好相反，从而提供了更纯净，整洁的声音。 最初，该项目将仅关注一个自由度（DOF），即相对于工具的轴向进出维度。作为可行性的证明，原型设备的构建，系统性能和有效性的验证以及对4DOF设计的评估将在I阶段I期间完成。4DOF最终产品的构建和测试将在II期中进行。 此处描述的设备可以在现有手术中提高性能，并为将微创技术扩展到新领域铺平了道路。该设备将具有单一的独立替代机器人的商业潜力，可以改善结果，并减少购买新工具，重建手术室或更改久经考验和真实的手术方法的需求。 Foster-Miller，Lahey Clinic和Emory University Hospital的工程师，临床医生和科学家团队具有独特的资格，可以成功地创建该系统，因为他们以前已经建立了所需的基本技术，在OR中进行了完善的MIS技术，并划定了人类外科手术。使用错误技术的性能。