具备位移-力双模态反馈的微创医疗手术钳设计

doi:10.3901/JME.260427

机械工程学报 ›› 2026, Vol. 62 ›› Issue (9): 352-360.doi: 10.3901/JME.260427

• 数字化设计与制造 • 上一篇

扫码分享

具备位移-力双模态反馈的微创医疗手术钳设计

熊鹏文^1,2, 吴然皓^1,2, 张宇^1,2, 徐健宁^1,2, 曾成^1,2, 宋爱国³

1. 南昌大学先进制造学院南昌 330031;
2. 智能机器人江西省重点实验室南昌 330031;
3. 东南大学仪器科学与工程学院南京 210096

收稿日期:2025-05-06 修回日期:2025-12-20 发布日期:2026-07-08
作者简介:熊鹏文，男，1987年出生，博士，教授，博士研究生导师。主要研究方向为机器人传感与控制技术、力触觉感知技术等。E-mail：steven.xpw@ncu.edu.cn;吴然皓，男，2000年出生，硕士研究生。主要研究方向为光纤光栅传感技术等。E-mail：412400230097@email.ncu.edu.cn;张宇(通信作者)，男，1981年出生，博士，硕士研究生导师。主要研究方向为嵌入式计算机系统与机器人智能感知等。E-mail：zhangyu74@ncu.edu.cn
基金资助:
国家自然科学基金(62373181,62163024,61903175)、江西省“双千计划”(jxsq2023201097)、江西省杰出青年基金(20232ACB212002)、江西省重点研发计划青年科学家项目(20252BCE310017)、江西省主要学科学术与技术带头人项目(20204BCJ23006)和国家重点研发计划“智能机器人”专项(2023YFB4704903)资助项目。

Design of Minimally Invasive Medical Surgical Forceps with Displacement-force Bimodal Feedback

XIONG Pengwen^1,2, WU Ranhao^1,2, ZHANG Yu^1,2, XU Jianning^1,2, ZENG Cheng^1,2, SONG Aiguo³

1. School of Advanced Manufacturing, Nanchang University, Nanchang 330031;
2. Jiangxi Key Laboratory of Intelligent Robot, Nanchang 330031;
3. School of Instrument Science and Engineering, Southeast University, Nanjing 210096

Received:2025-05-06 Revised:2025-12-20 Published:2026-07-08

摘要/Abstract

摘要： 传统的微创医疗手术钳存在工具和组织交互过程中都缺乏触觉信息、无法对组织进行精确定位等问题。为了提高微创手术中对夹持力感知和组织信息的判断，提高手术操作的精确性和稳定性，研究设计了一种位移-力双模态反馈的微创医疗手术钳。与传统的微创医疗手术钳相比，该手术钳可以在夹持过程中同时准确测量夹持力及钳头开合角度。采用两个光纤布拉格光栅(fiber Bragg grating,FBG)传感器测量力触觉信息以及钳头开合角度。FBG1在张紧的状态下粘贴在钳头背部中心线上，FBG2粘贴在钳体底部M型弹性梁上。通过静力学分析对结构进行优化，提高FBG灵敏度。搭建了实验平台对传感器进行静力标定实验、组织块体积识别实验以及组织块硬度识别实验，结果表明，该手术钳可以识别生物组织内不同体积、硬度的组织块。在该组传感器中，FBG1在载荷为1～10 N区间时平均灵敏度为32.03 pm/N，线性度为0.998；FBG2在钳头开合角度为0～60°区间时平均灵敏度为5.66 pm/(°)，线性度为0.998。

关键词: 微创手术, 位移-力双模态反馈, 光纤布拉格光栅, 体积识别, 硬度识别

Abstract: Traditional minimally invasive medical surgical forceps lack tactile feedback during tool-tissue interaction and cannot accurately position tissue. To enhance the perception of clamping force and tissue characteristics in minimally invasive surgery, as well as to improve the precision and stability of surgical operations, this study presents a novel design for minimally invasive surgical forceps featuring displacement-force bimodal feedback. In contrast to conventional instruments, the proposed forceps enable accurate measurement of both the clamping force and the jaw opening angle during operation. The system integrates two fiber Bragg grating (FBG) sensors: FBG1 attaches along the centerline on the back of the plier head under pre-tension to capture force-tactile data, while FBG2 mounts on the M-shaped elastic beam located at the bottom of the plier body to monitor angular displacement. The design undergoes structural optimization through hydrostatic analysis to enhance FBG sensitivity. A dedicated experimental platform supports static calibration, tissue block volume identification, and hardness recognition tests. Results demonstrate the device’s ability to distinguish tissue blocks with varying volumes and stiffness within biological samples. In terms of performance, FBG1 achieves an average sensitivity of 32.03 pm/N with a linearity of 0.998 across the 1-10 N load range. FBG2 delivers an average sensitivity of 5.66 pm/(°) and maintains the same linearity over the 0-60° jaw angle range.

Key words: minimally invasive surgery, displacement-force bimodal feedback, fiber Bragg grating, volumetric identification, hardness recognition

中图分类号:

TH74

熊鹏文, 吴然皓, 张宇, 徐健宁, 曾成, 宋爱国. 具备位移-力双模态反馈的微创医疗手术钳设计[J]. 机械工程学报, 2026, 62(9): 352-360.

XIONG Pengwen, WU Ranhao, ZHANG Yu, XU Jianning, ZENG Cheng, SONG Aiguo. Design of Minimally Invasive Medical Surgical Forceps with Displacement-force Bimodal Feedback[J]. Journal of Mechanical Engineering, 2026, 62(9): 352-360.

导出引用管理器 EndNote|Reference Manager|ProCite|BibTeX|RefWorks

链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260427

http://www.cjmenet.com.cn/CN/Y2026/V62/I9/352

参考文献

[1] ZHAO Z C，GU J. Open surgery in the era of minimally invasive surgery[J]. Chinese Journal of Cancer Research，2022，34(1)：63.
[2] PUANGMALI P，ALTHOEFER K，SENEVIRATNE L D，et al. State-of-the-art in force and tactile sensing for minimally invasive surgery[J]. IEEE Sensors Journal，2008，8(4)：371-381.
[3] BERGELES C，YANG G Z. From passive tool holders to microsurgeons：safer，smaller，smarter surgical robots[J]. IEEE Transactions on Biomedical Engineering，2013，61(5)：1565-1576.
[4] BANDARI N，DARGAHI J，PACKIRISAMY M. Tactile sensors for minimally invasive surgery：A review of the state-of-the-art，applications，and perspectives[J]. IEEE Access，2019，8：7682-7708.
[5] 杨名远，马家耀，李建民，等. 基于厚板折纸理论的微创手术钳[J]. 机械工程学报，2018，54(17)：36-45. YANG Mingyuan，MA Jiayao，LI Jianmin，et al. Thick-panel origami inspired forceps for minimally invasive surgery[J]. Journal of Mechanical Engineering，2018，54(17)：36-45.
[6] NICHOLS K A，OKAMURA A M. Methods to segment hard inclusions in soft tissue during autonomous robotic palpation[J]. IEEE Transactions on Robotics，2015，31(2)：344-354.
[7] SUN K，LI M，WANG S X，et al. Development of a Fiber Bragg Grating-enabled clamping force sensor integrated on a grasper for laparoscopic surgery[J]. IEEE Sensors Journal，2021，21(15)：16681-16690.
[8] CHUANG C H，LI T H，CHOU I C，et al. Piezoelectric tactile sensor for submucosal tumor hardness detection in endoscopy[C]//2015 Transducers-201518th International Conference on Solid-State Sensors，Actuators and Microsystems (Transducers). IEEE，2015：871-875.
[9] AFSHARI E，NAJARIAN S，SIMFOROOSH N，et al. Design and fabrication of a novel tactile sensory system applicable in artificial palpation[J]. Minimally Invasive Therapy & Allied Technologies，2011，20(1)：22-29.
[10] KIM U，KIM Y B，SO J，et al. Sensorized surgical forceps for robotic-assisted minimally invasive surgery[J]. IEEE Transactions on Industrial Electronics，2018，65(12)：9604-9613.
[11] 郭永兴，熊丽，周兴林，等. 用于机械装备的高性能光纤光栅倾斜传感器[J]. 机械工程学报，2022，58(8)：71-78. GUO Yongxing，XIONG Li，ZHOU Xinglin，et al. High performance fiber Bragg grating tilt sensor for mechanical equipment[J]. Journal of Mechanical Engineering，2022，58(8)：71-78.
[12] SHI C Y，LUO X B，QI P，et al. Shape sensing techniques for continuum robots in minimally invasive surgery：A survey[J]. IEEE Transactions on Biomedical Engineering，2016，64(8)：1665-1678.
[13] XIONG P W，HUANG X，LI Y L，et al. A fiber Bragg grating sensing structure for the design，simulation and stress strain monitoring of human puncture surgery[J]. Sensors，2019，19(14)：3066.
[14] SONG H，KIM K，LEE J. Development of optical fiber Bragg grating force-reflection sensor system of medical application for safe minimally invasive robotic surgery[J]. Review of Scientific Instruments，2011，82(7)：074301.
[15] LI T L，SHI C Y，REN H L. A high-sensitivity tactile sensor array based on fiber Bragg grating sensing for tissue palpation in minimally invasive surgery[J]. IEEE/ASME Transactions on Mechatronics，2018，23(5)：2306-2315.
[16] HASLINGER R，LEYENDECKER P，SEIBOLD U. A fiberoptic force-torque-sensor for minimally invasive robotic surgery[C]//2013 IEEE International Conference on Robotics and Automation. IEEE，2013：4390-4395.
[17] LI T L，SHI C Y，REN H. A novel fiber Bragg grating displacement sensor with a sub-micrometer resolution[J]. IEEE Photonics Technology Letters，2017，29(14)：1199-1202.
[18] NAGHMEH B，JAVAD D，MUTHUKUMARAN P.Miniaturized optical force sensor for minimally invasive surgery with learning-based nonlinear calibration[J]. IEEE Sensors Journal，2020，20(7)：3579-3592.
[19] 张剑敏，熊鹏文，韦琦，等. 面向纹理识别的便携式触觉传感器设计[J]. 仪器仪表学报，2022，43(10)：66-73. ZHANG Jianmin，XIONG Pengwen，WEI Qi，et al. Design of the portable tactile sensor for texture recognition[J]. Chinese Journal of Scientific Instrument，2022，43(10)：66-73.
[20] HONG B M，JO Y.Design and evaluation of 2-DOF compliant forceps with force-sensing capability for minimally invasive robot surgery.[J].IEEE Trans. Robotics，2012，28(4)：932-941.
[21] KIM K U，LEE D，YOON J W，et al. Force sensor integrated surgical forceps for minimally invasive Robotic surgery[J]. IEEE Trans. Robotics，2015，31(5)：1214-1224.
[22] SOLTANI P Z，ABELARDO E，RAN X，et al. Development of a 2-DOF sensorized surgical grasper for grasping and axial force measurements[J]. IEEE Sensors Journal，2018，18(7)：2816-2826.

具备位移-力双模态反馈的微创医疗手术钳设计

Design of Minimally Invasive Medical Surgical Forceps with Displacement-force Bimodal Feedback

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 13

编辑推荐

Metrics

本文评价

[1]	刘建军, 杨洋, 郑昱, 广晨汉, 林闯, 王朝董. 多点多维微力感知眼科手术器械[J]. 机械工程学报, 2024, 60(23): 53-62.
[2]	张赫, 李海铭, 张佳闪, 任昊, 李浩天, 赵杰. 面向腔镜微创手术的连续体机械手关键技术与研究进展[J]. 机械工程学报, 2023, 59(19): 44-64.
[3]	孙广开, 何彦霖, 于洋, 韩静, 赵冠棋, 周康鹏, 祝连庆. 连续体手术机器人光纤导航技术现状和展望[J]. 机械工程学报, 2023, 59(1): 1-18.
[4]	尚祖峰, 马家耀, 王树新. 面向微创手术器械臂的可变刚度机理综述[J]. 机械工程学报, 2022, 58(21): 1-15.
[5]	冯美, 李妍, 赵继, 呼咏, 高奎鸿. 机器人辅助微创手术器械丝传动张力传递研究[J]. 机械工程学报, 2021, 57(11): 120-127.
[6]	叶伟, 谢镇涛, 李秦川. 一种可用于微创手术的并联机构运动学分析与性能优化[J]. 机械工程学报, 2020, 56(19): 103-112.
[7]	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.
[8]	陈煜宇, 刘磊, 李博, 魏超, 王树新, 李涤尘. 柔性驱动与刚度可调结构/功能一体化微创手术操作臂设计制造与性能研究[J]. 机械工程学报, 2018, 54(17): 53-61.
[9]	刘光, 张鹏飞, 陈华伟, 韩志武, 张德远. 载能电刀仿生防粘表面技术[J]. 机械工程学报, 2018, 54(17): 21-27.
[10]	杨名远, 马家耀, 李建民, 陈焱, 王树新. 基于厚板折纸理论的微创手术钳[J]. 机械工程学报, 2018, 54(17): 36-45.
[11]	陈勇, 刘保林, 刘焕淋, 周立新, 杨凯. 基于光纤布拉格光栅的载荷定位与检测方法^*[J]. 机械工程学报, 2016, 52(18): 8-15.
[12]	胡中伟, 林旺源, 徐西鹏. 三种典型生物软组织切割特性的试验研究[J]. 机械工程学报, 2016, 52(11): 186-192.
[13]	潘博;付宜利;王树国;杨宗鹏. 微创条件约束下内窥镜操作机器人运动学[J]. , 2009, 45(3): 162-168.