Force sensing of multiple-DOF cable-driven instruments for minimally invasive robotic surgery

He Chao; Wang Shuxin; Sang Hongqiang; Li Jinhua; Zhang Linan

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Force sensing of multiple-DOF cable-driven instruments for minimally invasive robotic surgery

机译：多自由度电缆驱动器械的力感测，用于微创机器人手术

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摘要

BackgroundForce sensing for robotic surgery is limited by the size of the instrument, friction and sterilization requirements. This paper presents a force-sensing instrument to avoid these restrictions.

机译：背景技术用于机器人手术的力感测受到仪器尺寸，摩擦和消毒要求的限制。本文提出了一种避免这些限制的力传感工具。

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《The international journal of medical robotics + computer assisted surgery: MRCAS》 |2014年第3期|共11页
作者
He Chao; Wang Shuxin; Sang Hongqiang; Li Jinhua; Zhang Linan;
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正文语种 eng
中图分类外科学;
关键词
force sensing; cable-driven; minimally invasive surgery; instrument;

机译：力感应;电缆驱动;微创手术;仪器;

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专利

1. Force sensing of multiple-DOF cable-driven instruments for minimally invasive robotic surgery [J] . He Chao, Wang Shuxin, Sang Hongqiang, The international journal of medical robotics + computer assisted surgery: MRCAS . 2014,第3期

机译：多自由度电缆驱动器械的力感测，用于微创机器人手术
2. Three-dimensional nonlinear force-sensing method based on double microgrippers with E-type vertical elastomer for minimally invasive robotic surgery [J] . Yu Lingtao, Yan Yusheng, Li Chenzheng, Robotica . 2018,第6期

机译：基于微夹爪和E型垂直弹性体的三维非线性力感测方法在微创机器人手术中的应用
3. Design and Evaluation of 2-DOF Compliant Forceps With Force-Sensing Capability for Minimally Invasive Robot Surgery [J] . Hong M. B., Jo Y.-H. Robotics, IEEE Transactions on . 2012,第4期

机译：具有微感应机器人手术力感应能力的2自由度合规钳的设计和评估
4. Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability [C] . Seibold U., Kubler B., Hirzinger G. Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on . 2005

机译：具有六轴力感测能力的微创外科手术器械的原型
5. Tactile Feedback in Minimally Invasive Robotic Surgery with the Use of Strain Gauges =Rétroaction tactile en chirurgie robotique minimalement invasive avec l'utilisation de jauges de détente [D] . Govalla, Dema Nua. 2021

机译：在微创机器人手术中触摸反馈，使用应变仪表=在微创机器人手术中使用弛豫仪的触摸反馈
6. Combined 2D and 3D tracking of surgical instruments for minimally invasive and robotic-assisted surgery [O] . Xiaofei Du, Maximilian Allan, Alessio Dore, -1

机译：手术器械的2D和3D组合跟踪用于微创和机器人辅助手术
7. Prototypic force feedback instrument for minimally invasive robotic surgery [O] . Ulrich Seibold, Bernhard Kuebler, Gerd Hirzinger 2014

机译：用于微创机器人手术的原型力反馈仪器

Force sensing of multiple-DOF cable-driven instruments for minimally invasive robotic surgery

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