基于霍尔效应的触觉力检测传感器用于机器人辅助微创手术
Hall Effect-Based Tactile Force Detection Sensor for Robot-Assisted Minimally Invasive Surgery
Charles DeLorey · Michael Brockdorff · Adam Metcalf · Benjamin Calm\'e · Pietro Valdastri · Dominic Jones
中文摘要
机器人微创手术已革新了外科操作方式。然而由于外科医生与手术器械在机械上完全分离,触觉反馈随之丧失。本文提出一种紧凑型力传感器,包含三个毫米级传感单元(taxel),可贴附于机器人手术器械的夹持面。该传感器采用小型化设计,将霍尔效应(Hall effect)传感器与磁体嵌入可变形弹性体接触层内。传感器标定通过 6 自由度(DoF)并联机器人完成。每个 taxel 可检测所施加的法向力与剪切力,平均 RMSE 为 2.133 kPa。标定后的传感器在体模与离体猪组织上完成验证,演示了牵拉过程中的触觉感知以及滑动检测。本工作提出了一种小尺寸、基于霍尔效应的触觉传感器,为力敏感的机器人外科应用提供了感知能力。
关键要点
- 01针对机器人微创手术中触觉反馈缺失问题,提出贴附于夹持面的小型化三 taxel 触觉力传感器
- 02传感器采用霍尔效应传感器与磁体嵌入可变形弹性体接触层的设计,实现毫米级集成
- 03使用 6 自由度并联机器人完成标定,法向与剪切力检测平均 RMSE 为 2.133 kPa
- 04在体模与离体猪组织上验证,演示了牵拉与滑动两类操作的触觉感知能力
- 05局限在于仅在体模与离体组织上验证,尚未展示在体内或真实机器人手术系统中的性能
解读
尚无解读。
原始英文摘要
arXiv:2610.10346v1 Announce Type: new Abstract: Robotic minimally invasive surgery has revolutionized surgical practice. However, as the surgeons are mechanically separated from the surgical tools, loss of tactile feedback occurs. We present a compact force sensor with three, millimeter scale sensing elements (taxels) that can be affixed to the grasping face of a robotic surgical tool. The sensor features a miniaturized design using Hall effect sensors and magnets embedded in a deformable elastomer contact layer. Sensor calibration is achieved with a 6 degree of freedom (DoF) parallel robot. Each taxel can detect applied normal and shear forces with average RMSE of 2.133 kPa. The calibrated sensor was validated on phantom and ex vivo porcine tissue, demonstrating tactile sensing during retraction as well as slip. This work introduces a small-scale Hall effect based tactile sensor, enabling sensing for force-sensitive robotic surgical applications.