具有微力感知的眼科手术器械的设计与实现

doi:10.3901/JME.2020.17.012

机械工程学报 ›› 2020, Vol. 56 ›› Issue (17): 12-19.doi: 10.3901/JME.2020.17.012

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具有微力感知的眼科手术器械的设计与实现

邬如靖¹, 韩少峰¹, 广晨汉¹, 贺昌岩¹, 马科², 杨洋¹

1. 北京航空航天大学机械工程及自动化学院北京 100191;
2. 北京市眼科研究所北京 100730

收稿日期:2019-09-30 修回日期:2019-12-16 出版日期:2020-09-05 发布日期:2020-10-19
通讯作者: 杨洋(通信作者),男,1962年出生,博士,教授,博士研究生导师。主要研究方向为机器人机构学、显微外科机器人、智能机械设计与控制等。E-mail:yang_mech@buaa.edu.cn
作者简介:邬如靖,男,1995年出生。主要研究方向为机器人机构学、显微外科机器人。E-mail:rujingwu@buaa.edu.cn
基金资助:
国家重点研发计划（2017YFB1302702）和国家自然科学基金（51875011）资助项目。

Design and Implementation of A Micro-force Sensing Instrument for Ophthalmic Surgery

WU Rujing¹, HAN Shaofeng¹, GUANG Chenghan¹, HE Changyan¹, MA Ke², YANG Yang¹

1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191;
2. Beijing Institute of Ophthalmology, Beijing 100730

Received:2019-09-30 Revised:2019-12-16 Online:2020-09-05 Published:2020-10-19

摘要/Abstract

摘要： 针对眼内显微手术过程中器械与组织器官之间作用力微小、不易感知，且过大的操作力会造成组织损伤甚至撕裂等问题，设计一种基于光纤布拉格光栅（FBG）的微力传感器。在建立FBG反馈波长变化与力的关系基础上，探讨了温度对波长变化的影响，提出了温度补偿方法。利用自行研制的微力传感器标定系统进行传感器标定试验（精度0.42 mN）。将所研制的微力传感器集成到眼内手术镊末端，对离体猪眼球进行了连续环形撕囊操作试验。通过对19组数据分析，得到最大撕囊力的平均值为22.43 mN。研究对眼科手术的精准操作和手术机器人进行微力控制奠定了基础。

关键词: 微力传感器, 显微眼科手术, 手术器械, 光纤布拉格光栅

Abstract: In the Ophthalmic microsurgery, as the contact forces between tool and tissue are too small to perceive and the excessive operating force might lead to tissue damage, an FBG-based two-dimensional micro-force sensor is developed. After the force-wavelength relationship is determined and the temperature effect to the wavelength is discussed, an algorithm is developed to cancel the temperature effect. A calibration experiment is performed on a self-developed micro-force sensor calibration platform (the measuring accuracy is 0.42 mN). The sensor is integrated to the end of an ophthalmic surgical forceps, which was used to perform continuous curvilinear capsulorhexis (CCC) on isolated pig eyeballs to obtain the force-time curves. By analyzing 19 sets of data, the average value of the maximum capsular force was 22.43 mN. The research laid the foundation for precise operation of ophthalmic surgery and micro-force control of surgical robots.

Key words: micro force sensor, ophthalmic microsurgery, surgical instruments, fiber Bragg grating

中图分类号:

TP212

邬如靖, 韩少峰, 广晨汉, 贺昌岩, 马科, 杨洋. 具有微力感知的眼科手术器械的设计与实现[J]. 机械工程学报, 2020, 56(17): 12-19.

WU Rujing, HAN Shaofeng, GUANG Chenghan, HE Changyan, MA Ke, YANG Yang. Design and Implementation of A Micro-force Sensing Instrument for Ophthalmic Surgery[J]. Journal of Mechanical Engineering, 2020, 56(17): 12-19.

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具有微力感知的眼科手术器械的设计与实现

Design and Implementation of A Micro-force Sensing Instrument for Ophthalmic Surgery

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