手术机器人面临的一大挑战———力触觉反馈

doi:10.3969/j.issn.0258-8021. 2013. 04.017

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摘要机器人手术作为一种微创手术技术，由于其高度的精准性，已经得到了外科医生的广泛认可。但机器人手术最大的局限之一就是外科医生缺乏操作的“手感”（即力触觉反馈），增加了手术的不确定性和风险性，从而限制了手术机器人的进一步发展。文中从手术机器人力触觉反馈系统的组成、关键技术、以及当前的研究现状等几个方面，对该反馈系统进行了综述。力触觉反馈包括力反馈与触觉反馈。该系统的实现依赖力触觉的传感与再现，本文介绍了常用的力触觉传感器、再现设备及感觉模拟技术,并分析了各项技术的优缺点。对力触觉反馈系统在手术机器人的研究进展进行了概述。在汇总以前研究的基础上，对相关研究做了展望。

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	郭松杨明杰谭军^*

关键词 ：机器人辅助微创外科手术, 力触觉反馈, 力触觉传感器, 力触觉再现

Abstract：Due to high accuracy and minimal invasive, robotic surgery has been widely accepted by surgeons. However, the lack of intraoperative sense of touch (haptic feedback) can increase uncertainty and bring risks in the surgery, which is regarded as the biggest limitation of the robot surgery and require further development. In this article, haptic feedback system was reviewed from the system composition, key techniques and current research status. Haptic feedback includes force feedback and tactile feedback. The implementation of the system relies on the haptic sense and display.Commonly used haptic sensor, display device, sensory substitution techniques and the analysis on the corresponding advantages and disadvantages were introduced in the review. Research progress of the haptic feedback system in surgical robot was outlined as well. At last, the future research direction was suggested on the basis of the previous studies.

Key words： robotassisted minimally invasive surgery haptic feedback haptic sensor haptic display

基金资助:上海市浦东新区学科带头人计划资助（PWRD-2011-02）

引用本文:

郭松杨明杰谭军^*. 手术机器人面临的一大挑战———力触觉反馈[J]. 中国生物医学工程学报, 2013, 32(4): 499-503.
GUO Song YANG MingJie TAN Jun^*. A Big Challenge of Surgical Robot—Haptic Feedback. journal1, 2013, 32(4): 499-503.

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http://cjbme.csbme.org/CN/10.3969/j.issn.0258-8021. 2013. 04.017 或 http://cjbme.csbme.org/CN/Y2013/V32/I4/499

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