Development of small‐diameter haptic flexible gripping forceps robot

摘要

Abstract >Robotic technologies are being increasingly utilized for medical treatments to support surgeons and reduce the burden on patients. Flexible endoscopic surgical systems with an endoscope and flexible forceps robots are state‐of‐the‐art devices that are expected to realize more difficult and less invasive surgery. Surgeons teleoperate these flexible forceps robots as their own hands and conduct various medical tasks. The wire‐driven mechanism is applied to many flexible forceps robots to transmit the driving force to the tip of the robots in a narrow space. However, the flexible structure makes it difficult to control the wire‐driven robots and implement the haptic technologies to realize safer surgery. In this paper, a force sensor‐less, small‐diameter flexible forceps robot with the ability to transmit haptic sensation is presented. The driving part at the tip of the flexible part, composed of a small actuator with a reduction mechanism, realizes the miniaturization of the robot. Haptic information is estimated by low‐resolution position information. The bending of the flexible part with electric wires does not deteriorate the performance of the end effector. The performance of the haptic flexible forceps robot is evaluated through experiments. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><Abstract Type =“Main”XML：Lang =“en”> <标题类型=“main”>抽象</ title> >机器人技术越来越多地用于医疗治疗，以支持外科医生并减少患者的负担。具有内窥镜和柔性镊子机器人的柔性内窥镜手术系统是最先进的设备，预计将实现更困难和更少的侵入性手术。外科医生以此灵活的镊子机器人沿着这些灵活的镊子作为自己的手进行各种医疗任务。电线驱动机构应用于许多柔性镊子机器人，以将驱动力传递到狭窄的空间中的机器人尖端。然而，柔性结构使得难以控制线驱动的机器人并实现触觉技术以实现更安全的手术。在本文中，提出了一种具有传递触觉感觉能力的力传感器更小的小直径柔性钳机器人。由具有减小机构的小型致动器组成的柔性部分尖端的驱动部分实现了机器人的小型化。通过低分辨率位置信息估算触觉信息。具有电线的柔性部件的弯曲不会劣化末端执行器的性能。通过实验评估触觉柔性镊子机器人的性能。</ p> </摘要> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-22399/'>《Electrical engineering in Japan》</a> <b style="margin: 0 2px;">|</b><span>2020年第4期</span><b style="margin: 0 2px;">|</b><span>共8页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/1782.html" title="输配电工程、电力网及电力系统">输配电工程、电力网及电力系统;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=bilateral control&option=203" rel="nofollow">bilateral control;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=flexible endoscopic surgical system&option=203" rel="nofollow">flexible endoscopic surgical system;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=flexible forceps robot&option=203" rel="nofollow">flexible forceps robot;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=haptics&option=203" rel="nofollow">haptics;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=motion control&option=203" rel="nofollow">motion control;</a> </p> <div class="translation"> 机译：双侧控制;柔性内窥镜外科系统;柔性镊子机器人;触觉;运动控制; </div> </li> </ul> </div> </div> <div class="literature cardcommon" id="literaturereference" style="display:none"> <div class="similarity "> <h3 class="all_title" id="enpatent111">引文网络</h3> <div class="referencetab clearfix"> <ul id="referencedaohang"> <li dataid="referenceul">参考文献</li> <li dataid="citationul">引证文献</li> <li dataid="commonreferenceul">共引文献</li> <li dataid="commoncitationul">同被引文献</li> <li dataid="tworeferenceul">二级参考文献</li> <li dataid="twocitationul">二级引证文献</li> </ul> </div> <div class="reference_details" id="referenceList"> <ul id="referenceul"></ul> <ul id="citationul"></ul> <ul id="commonreferenceul"></ul> <ul id="commoncitationul"></ul> <ul id="tworeferenceul"></ul> <ul id="twocitationul"></ul> </div> </div> </div> <div class="literature cardcommon"> <div class="similarity "> <h3 class="all_title" id="enpatent66">相似文献</h3> <div 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surfaces or gripping surface sections, which are disposed during gripping process in form fit manner to gripped object</a> <b>[P]</b> . <span> 外国专利：  DE102007050018A1 </span> <span> . 2008-05-15</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：抓手工具，例如腹腔镜镊子，例如主体部分具有两条线，包括柔性支撑的抓握表面或抓握表面部分，它们在抓握过程中以形状配合的方式放置在被抓物体上 </span> </p> </li> <li> <div> <b>4. </b><a class="enjiyixqcontent" href="/patent-detail/06130401548758.html">BACKDRIVABLE AND HAPTIC FEEDBACK CAPABLE ROBOTIC FORCEPS, CONTROL SYSTEM AND METHOD</a> <b>[P]</b> . <span> 外国专利：  US2020206961A1 </span> <span> . 2020-07-02</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：可逆驱动和触觉反馈的机器人约束，控制系统和方法 </span> </p> </li> <li> <div> <b>5. </b><a class="enjiyixqcontent" href="/patent-detail/06130403594696.html">BACKDRIVABLE AND HAPTIC FEEDBACK CAPABLE ROBOTIC FORCEPS, CONTROL SYSTEM AND METHOD</a> <b>[P]</b> . <span> 外国专利：  WO2019032058A1 </span> <span> . 2019-02-14</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：可逆驱动和触觉反馈的机器人约束，控制系统和方法 </span> </p> </li> </ul> </div> </div> </div> <div class="theme cardcommon" style="overflow: auto;display:none"> <h3 class="all_title" id="enpatent55">相关主题</h3> <ul id="subject"> </ul> </div> </div> </div> </div> <div class="right rightcon"> <div class="details_img cardcommon clearfix" style="margin-bottom: 10px;display:none;" > </div> </div> </div> <div id="thesis_get_original1" class="downloadBth" style="bottom: 19px;z-index: 999;" onclick="ywcd('0704023149666','4',7,2,1,'',this,24)" class="delivery" prompt="010401" title="通过人工服务将文献原文发送至邮箱" >获取原文</div> <div class="journalsub-pop-up" 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