可变刚度力传感器实现微创手术中组织触诊的精准力反馈
Variable Stiffness & Dynamic Force Sensor for Tissue Palpation
- 通过光反射测量形变，动态调节刚度和力程范围
- 0.5~1 PSI压力下力误差均方根分别达0.0715~0.1284N
- 适用于微创手术中对软组织触诊的高精度力感知
微创手术中的组织触诊受限于操作空间。本文提出一种可变刚度与动态力程范围传感器，利用光反射估算传感器形变并推导施加力。在0、0.5和1 PSI不同压力下的实验表明，刚度和力程随压力升高而增加。力校准结果与实测力对比，平均均方根误差分别为0.016、0.0715和0.1284 N。
原文摘要 · Abstract (English)
Palpation of human tissue during Minimally Invasive Surgery is hampered due to restricted access. In this extended abstract, we present a variable stiffness and dynamic force range sensor that has the potential to address this challenge. The sensor utilises light reflection to estimate sensor deformation, and from this, the force applied. Experimental testing at different pressures (0, 0.5 and 1 PSI) shows that stiffness and force range increases with pressure. The force calibration results when compared with measured forces produced an average RMSE of 0.016, 0.0715 and 0.1284 N respectively, for these pressures.
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