北京生物醫(yī)學(xué)工程

手術(shù)器械觸覺力的檢測技術(shù)現(xiàn)狀

Measurement Technology of Haptic Force Used in Surgery Instruments

作者：周穎葛斌張敏燕

單位：上海理工大學(xué)醫(yī)療器械與食品學(xué)院(上海200093)

關(guān)鍵詞：微創(chuàng)手術(shù)；觸覺力；觸覺反饋；集成/嵌入式傳感器；微機(jī)電系統(tǒng)

分類號：

出版年·卷·期（頁碼）：2011·30·4（435-440）

摘要：

普通外科手術(shù)中，外科醫(yī)生主要依賴觸覺反饋來操控手術(shù)器械和判斷組織性質(zhì)，但微創(chuàng)手術(shù)很難實現(xiàn)觸覺反饋。本文綜述了國內(nèi)外對手術(shù)剪刀、手術(shù)刀和微創(chuàng)手術(shù)器械觸覺力的研究現(xiàn)狀，從實驗裝置、傳感器位置和測量原理等方面分析了觸覺力測量和反饋中的關(guān)鍵技術(shù)。隨著集成/嵌入式傳感器、模塊化設(shè)計、微機(jī)電系統(tǒng)等技術(shù)的廣泛應(yīng)用，觸覺力測量的研究也將為無創(chuàng)手術(shù)器械的力學(xué)性能檢測提供新的思路。

In the conventional surgery, surgeons mainly depend on haptic feedback to manipulate surgery instruments, palpate and characterize the tissues. However in the minimally invasive surgery, the haptic feedback is not realized. This paper reviews the state of the art in haptic force measurement technologies of surgery scissors, scalpel-blade and minimally invasive surgery instruments. The key technologies in haptic force measurement and feedback are analyzed in several aspects, including measuring device, force sensor location and testing methods. With the wide applications of integrated /embedded sensors, modular design, micromachining systems in force measurement, this reviews will also provide new measuring means of mechanical property of special atraumatic surgery instruments.

參考文獻(xiàn)：

［1］ Hannaford B, Okamura AM. Springer Handbook of Robotics, Part D, Haptics ［Ｍ］. Germany: Springer Verlag, 2008: 719-739.
［2］Tholey G, Chanthasopeephan T, Hu T, et al. Measuring Grasping and Cutting Forces for Reality-Based Haptic Modeling［C］. Computer Assisted Radiology and Surgery-1st International Workshop on Haptic Devices in Medical Applications, 2003: 794-800.
［3］Callaghan DJ, McGrath MM, Coyle E. Force Measurement Methods in Telerobotic Surgery: Implications for End-Effector Manufacture［C］. The Proceedings of the 25th International Manufacturing Conference, 2008: 389-398.
［4］Tholey G, Pillarisetti A, Green W, et al. Design, Development, and Testing of an Automated Laparoscopic Grasper with 3-D Force Measurement Capability ［C］. Medical Simulation: International Symposium, 2004: 38-48.
［5］Okamura AM, Webster III RJ , Nolin JT, et al. The Haptic Scissors: Cutting in Virtual Environments［C］. Robotics and Automation, IEEE International Conference, 2003, 9(1): 828-833.
［6］Callaghan DJ,McGrath MM. A Force Measurement Evaluation Tool for Telerobotics Cutting Applications: Development of an Effective Characterization Platform ［J］. World Academy of Science, Engineering and Technology, 2007, 31: 274-280.
［7］Chanthasopeephan T, Desai JP, Lau ACW. Measuring Forces in Liver Cutting: New Equipment and Experimental Results ［J］. Annals of Biomadical Engineering, 2003, 31: 1372-1382.
［8］Van den Dobbelsteen JJ,Van den Wijk V, Van der Geest A, et al. Force Sensitive Endoscopic Grasper［C］. 21st SMIT International Conference, Oral Presentations, 2009:54.
［9］Zemiti N, Morel G, Ortmaier T, et al. Mechatronic Design of a New Robot for Force Control in Minimally Invasive Surgery ［J］. IEEE/ASME Transactions on Mechatronic, 2007, 12: 143-153.
［10］Greenish S. Acquisition and Analysis of Cutting Forces of Surgical Instruments for Haptic Simulation［D］. Master’s Thesis, Department of Electrical and Computer Engineering, 1998.
［11］Greenish S,Hayward V, Steffen T, et al. Measurement, Analysis and Display of Haptic Signals During Surgical Cutting［J］. Teleoperators and Virtual Environments, 2002, 6(11): 626-651.
［12］Puangmali P, Althoefer K,Seneviratne LD, et al. State-of-the-Art in Force and Tactile Sensing for Minimally Invasive Surgery［J］. IEEE Sensors Journal, 2008, 8(4): 371-381.
［13］Takahashi H, Warisawa S, Mitsuishi M,et al. Development of High Dexterity Minimally Invasive Surgical System with Augmented Force Feedback Capability ［C］. Biomedical Robotics and Biomechatronics, 1st IEEE/RAS-EMBS International Conference, 2006: 284-289.
［14］Lazeroms,Villavicencio M, Jongkind G,et al. Optical Fibre Force Sensor for Minimal-Invasive-Surgery Grasping Instruments ［C］. Proceeding of the 18th Annual International Conference of the IEEE, 2002, 1: 234-235.
［15］Puangmali P, H Liu HB, Althoefer K, et al. Optical fiber sensor for soft tissue investigation during minimally invasive surgery［J］. Robotics and Automation, 2008, 2934-2939.
［16］H Liu HB, Puangmali P, Althoefer K, et al. Experimental Study of Soft Tissue Recovery Using Optical Fiber Probe ［C］. Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007: 516-521.
［17］Seibold U, Kuebler B, Weiss H, et al. Sensorized and Actuated Instruments for Minimally Invasive Robotic Surgery［C］. Proceedings of EuroHaptics , 4th International Conference, 2004: 5-7.
［18］Tendick F,Sastry SS, Fearing RS, et al. Applications of Micromechatronics in Minimally Invasive Surgery［J］. IEEE/ASME Transactions on Mechatronics, 1998, 3(1): 34-41.
［19］戴秉臣,張榮康,許航,等. SSX-3冠狀動脈、瓣膜外科手術(shù)器械的研制［J］. 生物醫(yī)學(xué)工程通訊, 1983, 02: 5-8.
［20］張紅雁,李斌,徐梓添,等. 手術(shù)器械的保養(yǎng)及檢測［J］.醫(yī)療衛(wèi)生裝備, 2008, 29(9): 126.

服務(wù)與反饋：

【文章下載】【加入收藏】

提示：您還未登錄，請登錄！點(diǎn)此登錄

51黑料吃瓜在线观看,51黑料官网|51黑料捷克街头搭讪_51黑料入口最新视频