摘要
力感知在微创外科手术过程中发挥重要的作用,但是目前微创手术器械最大的缺点为缺少力感知。为推动微创手术器械力感知技术在临床上的应用,本文针对微创手术器械现有的力感知方法,将微创手术器械的力感知技术分为外体感知、本体感知和动态感知3类,分别分析这3类力感知方法的基本原理,探讨其优势和局限性,并进行误差分析,旨在提出手术器械缺少力感知的解决办法,以及展望微创手术器械未来力感知技术的发展趋势。
Force sensing plays an extremely important role in the process of minimally invasive surgery,but the biggest disadvantage of minimally invasive surgical instruments is the lack of force perception.In order to promote the clinical application of minimally invasive surgical instrument force sensing technology,aiming at the existing force sensing methods,the force sensing technology of minimally invasive surgical instruments is divided into three categories:external body sensing,ontological sensing and dynamic sensing.The basic principles of these three force sensing methods are analyzed,and their advantages and limitations are discussed,and error analysis is carried out,in order to put forward solutions and forecast the development trend of force sensing technology for minimally invasive surgical instruments.
作者
陈钰
李帅
冯庆敏
刘胜林
付艳
谢勤岚
CHEN Yu;LI Shuai;FENG Qingmin;LIU Shenglin;FU Yan;XIE Qinlan(School of Biomedical Engineering,South-Central Minzu University,Wuhan Hubei 430074,China;Biomedical Engineering Laboratory,Union Hospital,Tongji Medical College,Huazhong University of Science and Technology,Wuhan Hubei 430022,China;School of Mechanical Science&Engineering,Huazhong University of Science and Technology,Wuhan Hubei 430074,China)
出处
《中国医疗设备》
2023年第2期158-164,共7页
China Medical Devices
基金
湖北省重点研发计划项目(2022BCA025)
华中科技大学同济医学院附属协和医院分子影像湖北省重点实验室开放基金(2020fzyx001)。
关键词
微创手术器械
力感知技术
误差分析
minimally invasive surgical instrument
force sensing
error analysis
