多点多维微力感知眼科手术器械

doi:10.3901/JME.2024.23.053

机械工程学报 ›› 2024, Vol. 60 ›› Issue (23): 53-62.doi: 10.3901/JME.2024.23.053

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多点多维微力感知眼科手术器械

刘建军¹, 杨洋¹, 郑昱², 广晨汉¹, 林闯¹, 王朝董¹

1. 北京航空航天大学机械工程及其自动化学院北京 100191;
2. 南京邮电大学自动化学院南京 210023

收稿日期:2023-07-19 修回日期:2024-04-19 出版日期:2024-12-05 发布日期:2025-01-23
作者简介:刘建军，男，1997年出生，博士研究生。主要研究方向为眼科手术机器人系统。E-mail：3290243291@qq.com;郑昱(通信作者)，男，1993年出生，博士。主要研究方向为机器人动力学与力控制技术。E-mail：zhengyu_njupt@126.com
基金资助:
国家重点研发计划(2017YFB1302702)、国家自然科学基金(51875011,52205002)和南京邮电大学引进人才自然科学研究启动基金(NY223044)资助项目。

Multi-point Multi-dimensional Micro-force Sensing Instrument for Ophthalmic Surgery

LIU Jianjun¹, YANG Yang¹, ZHENG Yu², GUANG Chenhan¹, LIN Chuang¹, WANG Chaodong¹

1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191;
2. School of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210023

Received:2023-07-19 Revised:2024-04-19 Online:2024-12-05 Published:2025-01-23

摘要/Abstract

摘要： 眼组织十分脆弱，毫牛级的力都会对眼组织产生损伤，这种微小的力已经超出了医生的感知极限。针对视网膜黄斑剥离手术中手术镊与眼组织之间的作用力微小、不易感知的问题，提出一种基于光纤布拉格光栅(Fiber Bragg grating,FBG)传感器的多点微力感知方法。此方法可以在眼科手术过程中总准确感知器械与眼组织的交互力。结合视网膜手术中的多点多维微力感知要求，提出一种全新的FBG布局形式。建立多点力假设下器械径向变形与FBG波长的理论模型，设计温度补偿方法，形成微力感知方法，实现对尖端径向力、巩膜径向力和巩膜接触位置的同步精准感知。最后，制作微力感知手术镊样机并通过实验进行标定，实验结果表明，尖端径向力、巩膜径向力、巩膜接触位置的均方根误差分别为0.2353 mN、1.51 mN、0.5730 mm，力、位置感知精度满足眼科手术要求。

关键词: 光纤布拉格光栅, 多点多维微力感知, 眼科手术器械, 视网膜黄斑剥离手术

Abstract: Eye tissue is very fragile, and a force of millinewton level will cause damage to the eye tissue. This tiny force has exceeded the perception limit of doctors. In order to solve the problem that the force between the surgical forceps and the eye tissue is small and difficult to perceive, a multi-point micro-force sensing method based on fiber Bragg grating (FBG) sensor is proposed. According to the requirement of multi-point and multi-dimensional micro-force perception in retinal surgery, a new FBG layout is proposed. The theoretical model of radial deformation and FBG wavelength of the instrument under the multi-point force hypothesis was established, the temperature compensation method was designed, and the micro-force sensing method was formed to realize synchronous and accurate sensing of the radial force of the tip, the radial force of the sclera and the contact position of the sclera. Finally, a prototype of the micro-force sensing surgical forceps was made and calibrated by experiments. The experimental results showed that the root mean square errors of the radial force of the tip, the radial force of the sclera and the sclera contact position were 0.2353 mN, 1.51 mN and 0.5730 mm, respectively. The sensing accuracy of force and position met the requirements of ophthalmic surgery.

Key words: fiber Bragg gratings, multi-point multi-dimensional micro-force sensing, ophthalmic operating instrument, macular detachment surgery

中图分类号:

TP212

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.

LIU Jianjun, YANG Yang, ZHENG Yu, GUANG Chenhan, LIN Chuang, WANG Chaodong. Multi-point Multi-dimensional Micro-force Sensing Instrument for Ophthalmic Surgery[J]. Journal of Mechanical Engineering, 2024, 60(23): 53-62.

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多点多维微力感知眼科手术器械

Multi-point Multi-dimensional Micro-force Sensing Instrument for Ophthalmic Surgery

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