显微手术机器人末端微小型传感器集成研究

Integration of microsensor for microsurgery robot’s end-effector

为提高显微手术机器人实施手术的效果,需要在机器人末端集成微小型传感器.在提出传感器集成设计要求的基础上,研究机器人末端环钻钻切力和深度的测量机理.采用微型力传感器和微型位移传感器测量手术中的钻切力和深度信息.采用线性滑动轴承和差动测杆机构实现对相应手术信息的测量.开发传感器数据采集卡,用功率谱估计分析传感器数据,并提出两种数字滤波方法来消除干扰信号.两种方法分别适合于PC机的低通、带阻串联结构滤波器和适合于数据采集卡的移动平均滤波算法.钻切实验表明,机器人末端传感器集成满足设计要求,末端环钻可以准确完成手术操作.

In order to enhance the effect of robotic microsurgery, the micmsensors were integrated on the robot＇s end-effector. On the basis of requirements presented for the integration design, measuring mechanism for the robotic end trephine＇s force and cutting depth was studied. Force microsensor and position microsensor were made use of to measure the surgical information of force and depth. The measuring mechanism was practised by means of linear sliding bearing and differential measuring structure. The sensor data board was developed. With the power spectral estimation of sensor data, the two digital filtering methods were proposed to eliminate the interference to the original microsensor signal. They are a filtering method of lowpass-bandstop serial structure suitable for the PC and a shift average filtering arithmetic suitable for the sensor data board. The experimental results show the integration of microsensors for microsurgery robot＇s end-effector is qualified for the design requirements, and the robotic end trephine can fulfill the surgical task of corneal cutting accurately.