在手术机器人上嵌入柔性环形传感器，实时感知周围组织距离，提升安全性。
Embedded Flexible Circumferential Sensing for Real-Time Intraoperative Environmental Perception in Continuum Robots
- 在椎间盘周围集成柔性环形传感器，实现对环境的实时感知。
- 障碍物检测精度达0.19毫米，可有效避免组织误触。
- 采用柔性电路板技术，结构紧凑、成本低，适配多种机器人设计。
连续体机器人因其体积小、灵活性高，被广泛应用于机器人辅助微创手术（RMIS）。然而，在狭窄腔道中其本体感知能力仍受限，缺乏环境感知易导致意外组织接触与手术风险。为此，本文提出一种集成于连续体机器人椎间盘周围的柔性环形传感器结构。该设计通过估算机器人盘面与周围组织的距离，实现实时环境映射，为先进控制策略提供支持。实验表明，其障碍物检测精度可达0.19毫米。传感器采用柔性印刷电路（FPC）技术制造，具备模块化、低成本、尺寸紧凑及低噪声干扰等优点，参数可调，兼容多种连续体机器人架构，为提升手术机器人的术中感知与控制能力提供了可行方案。
原文摘要 · Abstract (English)
Continuum robots have been widely adopted in robot-assisted minimally invasive surgery (RMIS) because of their compact size and high flexibility. However, their proprioceptive capabilities remain limited, particularly in narrow lumens, where lack of environmental awareness can lead to unintended tissue contact and surgical risks. To address this challenge, this work proposes a flexible annular sensor structure integrated around the vertebral disks of continuum robots. The proposed design enables real-time environmental mapping by estimating the distance between the robotic disks and the surrounding tissue, thereby facilitating safer operation through advanced control strategies. The experiment has proven that its accuracy in obstacle detection can reach 0.19 mm. Fabricated using flexible printed circuit (FPC) technology, the sensor demonstrates a modular and cost-effective design with compact dimensions and low noise interference. Its adaptable parameters allow compatibility with various continuum robot architectures, offering a promising solution for enhancing intraoperative perception and control in surgical robotics.
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