动态触感合成组织:从软机器人到混合手术模拟器

Thomas Thurner, Julia Maier, Martin Kaltenbrunner, Andreas Schrempf
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摘要

手术模拟器是医生宝贵的教育工具,可提高他们的熟练程度并改善患者安全。然而,它们通常仍然缺乏真实感,因为它们不能触觉地模拟动态组织生物力学,也不能令人信服地模拟实时生理反应。本研究提出了一种动态触觉合成组织,在一个完全柔软的单元内集成了感觉和执行功能,作为软机器人和未来利用动态物理模型的混合手术模拟器的核心部件。组织复型的自适应表面通过液压驱动,由嵌入式碳黑硅胶传感器层利用电阻抗断层扫描进行评估,以确定内部或外部引起的变形。集成流体室可进行压力和力测量。这些原理的结合可实现实时组织反馈和闭环操作,从而实现与环境的最佳互动。基于软机器人技术的概念,这种人工组织具有广泛的适用性,通过软抓手和手术模拟应用(包括动态人工大脑模型和合成跳动心脏)进行了演示。这些进步为提高手术模拟器的逼真度(包括可靠的性能评估)铺平了道路,并有可能改变未来的手术培训方法。
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Dynamic Tactile Synthetic Tissue: from Soft Robotics to Hybrid Surgical Simulators
Surgical simulators are valuable educational tools for physicians, enhancing their proficiency and improving patient safety. However, they typically still suffer from a lack of realism as they do not emulate dynamic tissue biomechanics haptically and fail to convincingly mimic real‐time physiological reactions. This study presents a dynamic tactile synthetic tissue, integrating both sensory and actuatory capabilities within a fully soft unit, as a core component for soft robotics and future hybrid surgical simulators utilizing dynamic physical phantoms. The adaptive surface of the tissue replica, actuated via hydraulics, is assessed by an embedded carbon black silicone sensor layer using electrical impedance tomography to determine internally or externally induced deformations. The integrated fluid chambers enable pressure and force measurements. The combination of these principles enables real‐time tissue feedback as well as closed loop operation, allowing optimal interaction with the environment. Based on the concepts of soft robotics, such artificial tissues find broad applicability, demonstrated via a soft gripper and surgical simulation applications including a dynamic, artificial brain phantom as well as a synthetic, beating heart. These advancements pave the way toward enhanced realism in surgical simulators including reliable performance evaluation and bear the potential to transform the future of surgical training methodologies.
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