手术机器人的力感知技术进展

doi:10.1007/s12204-023-2607-x

摘要/Abstract

摘要： 力感知在微创手术中对于手术情况分析和安全交互至关重要。因此，集成力感知技术的手术机器人能够保证精确和安全的手术过程。在过去的几十年里，手术机器人的力感知技术已经取得了相当大的进展。本文综述了目前用于手术机器人的基于电和光的力传感器，包括压阻式、压电式、电容式、强度/相位调制和光纤布拉格光栅传感器，同时也讨论了它们的原理、应用、优点和局限性。最后，我们对于当前手术机器人力感知技术进行了总结。

关键词: 力感知, 手术机器人, 微创手术

Abstract: Force sensing is vital for situational awareness and safe interaction during minimally invasive surgery. Consequently, surgical robots with integrated force-sensing techniques ensure precise and safe operations. Over the past few decades, there has been considerable progress in force-sensing techniques for surgical robots. This review summarizes the existing electrically- and optically-based force sensors for surgical robots, including piezoresistive, piezoelectric, capacitive, intensity/phase-modulated, and fiber Bragg gratings. Their principles, applications, advantages, and limitations are also discussed. Finally, we summarize our conclusions regarding state-of-the-art force-sensing technologies for surgical robotics.

中图分类号:

TP 242
R 318

高红岩1, 2, 艾孝杰1, 2, 孙正隆3, 陈卫东1, 2, 高安柱1, 2. 手术机器人的力感知技术进展[J]. J Shanghai Jiaotong Univ Sci, 2023, 28(3): 370-381.

GAO Hongyan1, 2(高红岩), AI Xiaojie1, 2(艾孝杰), SUN Zhenglong3(孙正隆), CHEN Weidong1, 2(陈卫东), GAO Anzhu1, 2(高安柱). Progress in Force-Sensing Techniques for Surgical Robots[J]. J Shanghai Jiaotong Univ Sci, 2023, 28(3): 370-381.

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