文献类型： 会议论文

第一作者： Justin Wee

作者： Justin Wee ¹ ; Matthew Kang ¹ ; Peter Francis ² ; Robert Brooks ³ ; Leigh Masotti ² ; Daniel Villavicencio ² ; Thomas Looi ¹ ; Georges Azzie ² ; James Drake ¹ ; J. Ted Gerstle ¹ ;

作者机构： 1.Institute for Biomaterials and Biomedical Engineering, Clinical Engineering, University of Toronto

2.Centre for Image Guided Innovation & Therapeutic Intervention, The Hospital for Sick Children

3.Mechanical and Industrial Engineering, University of Toronto

会议名称： Annual International Conference of the IEEE Engineering in Medicine and Biology Society

主办单位：

页码： 4447-4450

摘要： Mastering proper force manipulation in minimally invasive surgery can take many years. Improper force control can lead to necrosis, infection, and scarring. This paper describes a novel system to measure, log, and display external forces at the distal end of minimally invasive surgical instruments in real-time. The system, comprising of a Force-Sensing Sleeve, Bluetooth electronics module, and an Android mobile application. A sensorized 5 mm minimally invasive surgical needle holder was evaluated for bending force accuracy, linearity, and repeatability in six directions. The results showed that the system responded linearly to forces at the tool-tip independent of direction with an RMS error of 0.088 N. Repeatability was affected by system noise potentially arising from temperature drift and thermal noise. Future work will include characterization of communication performance for force feedback in surgical training and assessment.

分类号： Q81-53