A novel neurosurgery-specific haptic hand-controller for robot-assisted surgical systems

一种用于机器人辅助手术系统的新型神经外科专用触觉手控制器

• 批准号: 478449-2015
• 负责人: Sutherland, Garnette
• 金额: $ 5.46万
• 依托单位: University of Calgary
• 依托单位国家: 加拿大
• 项目类别: Collaborative Health Research Projects
• 财政年份: 2015
• 资助国家: 加拿大
• 起止时间: 2015-01-01 至 2016-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=579515
• 关键词: novel; neurosurgery; specific; haptic; hand

A robotic surgical system consists of a workstation, where the surgeon operates, and a surgical site, where the robotic arms execute the surgeons commands. Providing proper commands by the surgeon for the surgical robot requires sensory feedback from the surgical site. The surgeons interface, which is arguably the most integral part of any robot-assisted surgical system, is the link connecting the surgeon to their tools and environment, which can represent a significant challenge if not designed appropriately. Furthermore, it is important that this interface is transparent, intuitive and ergonomic, and streamlines the transition from conventional surgical technique to robotic surgery. For the surgeon to optimally control the robotic arms, sufficient sensory feedback is required from the surgical site. Visual and auditory data are readily reproduced at a remote workstation via cameras, monitors, speakers, and microphones. Reproducing the sense of touch remains a significant challenge. The lack of sufficient haptic feedback increases the risk of injury for patients. Sense of touch is a critical aspect of robotic surgery allowing tool-tissue interaction to be precise, accurate, safe, and intuitive. From a surgeons perspective, the hand-controller must offer the highest quality to ensure the best possible interaction between the surgeon, the robot, and the patient. Therefore, the proposed research will develop a novel haptic hand- controller capable of providing enhanced tactile feedback not currently available in existing hand-controllers.

机器人手术系统由外科医生操作的工作站和手术部位组成 执行外科医生命令。提供外科医生为手术机器人提供适当的命令需要感官 手术现场的反馈。外科医生界面，这可以说是任何机器人辅助的最具组成部分 手术系统是将外科医生与其工具和环境联系起来的链接，这可以代表重要的 挑战如果设计不当。此外，重要的是，该界面是透明，直观的，并且 人体工程学，并简化从常规手术技术到机器人手术的过渡。为外科医生到 最佳地控制机器人臂，需要手术部位足够的感觉反馈。视觉和听觉数据是 通过摄像头，监视器，扬声器和麦克风在远程工作站上很容易复制。再现 触摸仍然是一个重大挑战。缺乏足够的触觉反馈会增加患者受伤的风险。感觉 触摸是机器人手术的关键方面，使工具组织的相互作用可以精确，准确，安全和直观。来自 外科医生的视角，手部控制器必须提供最高质量，以确保在 外科医生，机器人和病人。因此，拟议的研究将开发一种能够 提供了当前手动控制器中目前尚不可用的增强触觉反馈。