Int J Med Robot - Force feedback in a piezoelectric linear actuator for neurosurgery.

Tópicos

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Resumo

CKGROUND: Force feedback in robotic minimally invasive surgery allows the human operator to manipulate tissues as if his/her hands were in contact with the patient organs. A force sensor mounted on the probe raises problems with sterilization of the overall surgical tool. Also, the use of off-axis gauges introduces a moment that increases the friction force on the bearing, which can easily mask off the signal, given the small force to be measured.METHODS: This work aims at designing and testing two methods for estimating the resistance to the advancement (force) experienced by a standard probe for brain biopsies within a brain-like material. The further goal is to provide a neurosurgeon using a master-slave tele-operated driver with direct feedback on the tissue mechanical characteristics. Two possible sensing methods, in-axis strain gauge force sensor and position-position error (control-based method), were implemented and tested, both aimed at device miniaturization. The analysis carried out was aimed at fulfilment of the psychophysics requirements for force detection and delay tolerance, also taking into account safety, which is directly related to the last two issues. Controller parameters definition is addressed and consideration is given to development of the device with integration of a haptic interface.RESULTS: Results show better performance of the control-based method (RMSE < 0.1 N), which is also best for reliability, sterilizability, and material dimensions for the application addressed.CONCLUSIONS: The control-based method developed for force estimation is compatible with the neurosurgical application and is also capable of measuring tissue resistance without any additional sensors. Force feedback in minimally invasive surgery allows the human operator to manipulate tissues as if his/her hands were in contact with the patient organs.

Resumo Limpo

ckground forc feedback robot minim invas surgeri allow human oper manipul tissu hisher hand contact patient organ forc sensor mount probe rais problem steril overal surgic tool also use offaxi gaug introduc moment increas friction forc bear can easili mask signal given small forc measuredmethod work aim design test two method estim resist advanc forc experienc standard probe brain biopsi within brainlik materi goal provid neurosurgeon use masterslav teleoper driver direct feedback tissu mechan characterist two possibl sens method inaxi strain gaug forc sensor positionposit error controlbas method implement test aim devic miniatur analysi carri aim fulfil psychophys requir forc detect delay toler also take account safeti direct relat last two issu control paramet definit address consider given develop devic integr haptic interfaceresult result show better perform controlbas method rmse n also best reliabl steriliz materi dimens applic addressedconclus controlbas method develop forc estim compat neurosurg applic also capabl measur tissu resist without addit sensor forc feedback minim invas surgeri allow human oper manipul tissu hisher hand contact patient organ

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