Current minimally invasive surgical robots are lacking in force sensing that is robust to temperature and electromagnetic variation while being compatible with micro-sized instruments. This paper presents a multi-axis force sensing module that can be integrated with micro-sized surgical instruments such as biopsy forceps. The proposed miniature sensing module mainly consists of a flexure, a camera, and a target. The deformation of the flexure is obtained by the pose variation of the top-mounted target, which is estimated by the camera with a proposed pose estimation algorithm. Then, the external force is estimated using the flexure's displacement and stiffness matrix. Integrating the sensing module, we further develop a pair of haptics-enabled forceps and realize its multi-modal force sensing, including touching, grasping, and pulling when the forceps manipulate tissues. To minimize the unexpected sliding between the forceps' clips and the tissue, we design a micro-level actuator to drive the forceps and compensate for the motion introduced by the flexure's deformation. Finally, a series of experiments are conducted to verify the feasibility of the proposed sensing module and forceps, including an automatic robotic grasping procedure on ex-vivo tissues. The results indicate the sensing module can estimate external forces accurately, and the haptics-enabled forceps can potentially realize multi-modal force sensing for task-autonomous robotic surgery. A video demonstrating the experiments can be found at https://youtu.be/4UUTT_hiFcI.
翻译:目前的最小侵入性外科机器人缺乏对温度和电磁变异的强力感知,而这种感知在与微尺寸仪器兼容的情况下,对温度和电磁变异是十分强大的。本文件展示了多轴力感知模块,可以与生物心理力等微尺寸外科仪器相结合。提议的微型感知模块主要由伸缩力、摄像头和一个目标组成。伸缩力的变形是通过上架目标的变形获得的。由相机用拟议的表面估计算法来估计的。然后,外部力量使用弹性变换和僵硬矩阵来估算。整合感知模块,我们进一步开发一组机能力感应力感应模块,并实现其多式力感应,包括触摸、抓捉和拉动,当力力感应器操动组织时,为了尽量减少力和组织之间出乎意料的滑动,我们设计了一个微级动动作仪,驱动力力和补偿由弹性变压变形算法所引入的动作。最后,将进行一系列实验,以核实拟议的感测模型的可行性,并实现机力力力力力变变变变变变变动,包括自动机机机机变变变变变动的外力变动机机机机机变动程序。</s>