机构：[1]Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Life Science, Beijing Institute of Technology, No.5, Zhongguancun South Street, Haidian District, Beijing 100081, China[2]Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa 760-8521, Japan[3]Department of Interventional Neuroradiology, Beijing Neurosurgical Institute and Beijing Tiantan Hospital, Capital Medical University, Beijing 100050, China重点科室医技科室研究所放射科放射科北京市神经外科研究所首都医科大学附属天坛医院
Vascular interventional surgery has its advantages compared to traditional operation. Master-slave robotic technology can further improve the operation accuracy, efficiency and safety of this complicated and high risk surgery. However, on-line acquisition of operating force information of catheter and guidewire remains to be a significant obstacle on the path to enhancing robotic surgery safety. Thus, a novel slave manipulator is proposed in this paper to realize on-line sensing of guidewire torsional operating torque and axial operation force during robotic assisted operations. A strain sensor is specially designed to detect the small scale torsional operation torque with low rotational frequency. Additionally, the axial operating force is detected via a load cell, which is incorporated into a sliding mechanism to eliminate the influence of friction. For validation, calibration and performance evaluation experiments are conducted. The results indicate that the proposed operation torque and force detection device is effective. Thus, it can provide the foundation for enabling accurate haptic feedback to the surgeon to improve surgical safety.
基金：
National High Tech. Research and Development Program of ChinaNational High Technology Research and Development Program of China [2015AA043202]; National Natural Science Foundation of ChinaNational Natural Science Foundation of China [61375094, 61503028]
第一作者机构：[1]Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Life Science, Beijing Institute of Technology, No.5, Zhongguancun South Street, Haidian District, Beijing 100081, China
通讯作者：
通讯机构：[1]Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, School of Life Science, Beijing Institute of Technology, No.5, Zhongguancun South Street, Haidian District, Beijing 100081, China[2]Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa 760-8521, Japan
推荐引用方式(GB/T 7714)：
Zhao Yan,Guo Shuxiang,Xiao Nan,et al.Operating force information on-line acquisition of a novel slave manipulator for vascular interventional surgery[J].BIOMEDICAL MICRODEVICES.2018,20(2):-.doi:10.1007/s10544-018-0275-7.
APA：
Zhao, Yan,Guo, Shuxiang,Xiao, Nan,Wang, Yuxin,Li, Youxiang&Jiang, Yuhua.(2018).Operating force information on-line acquisition of a novel slave manipulator for vascular interventional surgery.BIOMEDICAL MICRODEVICES,20,(2)
MLA：
Zhao, Yan,et al."Operating force information on-line acquisition of a novel slave manipulator for vascular interventional surgery".BIOMEDICAL MICRODEVICES 20..2(2018):-
