发表机构
University of Leeds（利兹大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对机器人微创手术中触觉反馈缺失的问题，本文提出一种基于霍尔效应的毫米级紧凑力传感器，可检测法向和剪切力，平均RMSE为2.133 kPa，并在体模和离体猪组织上验证了牵拉与滑动感知能力。
AI 中文摘要
机器人微创手术已经彻底改变了外科实践。然而，由于外科医生与手术工具在机械上分离，触觉反馈的丧失随之发生。我们提出了一种紧凑型力传感器，具有三个毫米级传感单元（taxels），可固定到机器人手术工具的抓取面上。该传感器采用微型化设计，使用霍尔效应传感器和嵌入可变形弹性体接触层中的磁铁。传感器校准通过6自由度（DoF）并联机器人实现。每个taxel能够检测施加的法向力和剪切力，平均均方根误差（RMSE）为2.133 kPa。校准后的传感器在体模和离体猪组织上进行了验证，展示了在牵拉和滑动过程中的触觉感知能力。这项工作介绍了一种小规模基于霍尔效应的触觉传感器，为力敏感的机器人手术应用实现了感知功能。
英文摘要
Robotic minimally invasive surgery has revolutionized surgical practice. However, as the surgeons are mechanically separated from the surgical tools, loss of tactile feedback occurs. We present a compact force sensor with three, millimeter scale sensing elements (taxels) that can be affixed to the grasping face of a robotic surgical tool. The sensor features a miniaturized design using Hall effect sensors and magnets embedded in a deformable elastomer contact layer. Sensor calibration is achieved with a 6 degree of freedom (DoF) parallel robot. Each taxel can detect applied normal and shear forces with average RMSE of 2.133 kPa. The calibrated sensor was validated on phantom and ex vivo porcine tissue, demonstrating tactile sensing during retraction as well as slip. This work introduces a small-scale Hall effect based tactile sensor, enabling sensing for force-sensitive robotic surgical applications.
Comments9 pages, 12 figures
