推进机器人手术：面向内窥镜训练器的经济型动觉与触觉反馈解决方案
Advancing Robotic Surgery: Affordable Kinesthetic and Tactile Feedback Solutions for Endotrainers
AI总结：
针对手术机器人缺乏触觉反馈的问题，本研究将经济型动觉与触觉反馈系统集成至内窥镜训练器，通过光电传感器实现95%准确率的力检测，提升训练真实性与手术安全性。
摘要：
机器人辅助微创手术的普及凸显了对先进培训工具的需求，例如成本效益高的机器人内窥镜训练器。当前的手术机器人通常缺乏触觉反馈，而触觉反馈对于为外科医生提供实时触感至关重要。这种缺失可能影响外科医生有效执行精细操作的能力。为增强手术培训并解决这一不足，我们将一种经济高效的触觉反馈系统集成到机器人内窥镜训练器中。该系统结合了动觉（力）反馈和触觉反馈，提高了手术模拟的真实性，并实现了操作过程中更精确的控制。我们的系统采用了一种创新的、基于光电技术的经济型力/力矩传感器，专门设计用于以95%的准确率精确检测施加于手术工具上的力和力矩，提供必要的动觉反馈。此外，我们实现了一种触觉反馈机制，告知外科医生工具尖端与组织之间的夹持力。这种双重反馈系统增强了培训模拟的真实性和机器人手术的执行效果，促进了更广泛的采用和更安全的实践。
英文摘要：
The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing surgeons with a real-time sense of touch. This absence can impact the surgeon's ability to perform delicate operations effectively. To enhance surgical training and address this deficiency, we have integrated a cost-effective haptic feedback system into a robotic endotrainer. This system incorporates both kinesthetic (force) and tactile feedback, improving the fidelity of surgical simulations and enabling more precise control during operations. Our system incorporates an innovative, cost-effective Force/Torque sensor utilizing optoelectronic technology, specifically designed to accurately detect forces and moments exerted on surgical tools with a 95% accuracy, providing essential kinesthetic feedback. Additionally, we implemented a tactile feedback mechanism that informs the surgeon of the gripping forces between the tool's tip and the tissue. This dual feedback system enhances the fidelity of training simulations and the execution of robotic surgeries, promoting broader adoption and safer practices.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
