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- Title
机器人辅助腹腔镜手术中力感知技术的研究进展.
- Authors
张建勋; 姚 斌; 代 煜; 夏光明
- Abstract
In order to promote the further research and clinical applications of force sensing technology in robot-assisted laparoscopic surgery, the research progresses were reviewed. Sensor force sensing was divided into two categories: electrical signal-based sensing and optical signal-based sensing. Some key indicators were analyzed, such as sensor position distribution on surgical instruments9 mechanical structure 9 measurement range 9 measurement accuracy and electromagnetic compatibility. Sensors' advantages and disadvantages were discussed. Sensorless force sensing was divided into two categories: vision-based sensing and dynamic model-based sensing. And the realization method? technical obstacle and error sources were analyzed. Finally, the development trend of force sensing technology in robot-assisted laparoscopic surgery was prospected.
- Subjects
LAPAROSCOPIC surgery; SENSOR placement; POSITION sensors; ELECTROMAGNETIC compatibility; ELECTROMAGNETIC measurements; SURGICAL robots
- Publication
China Mechanical Engineering, 2021, Vol 32, Issue 21, p2521
- ISSN
1004-132X
- Publication type
Article
- DOI
10.3969/j.issn.l004-132X.2021.21.001