Electro-tactile feedback device and surgical robot provided with same

Abstract

The invention discloses an electro-tactile feedback device and a surgical robot provided with the same. The electro-tactile feedback device comprises a multi-dimensional force sensor and an electro-tactile feedback system, detects force information contact between surgical instruments and sicken tissues in actual minimally invasive surgeries and transfers the force information to an electro-tactile control system. The electro-tactile control system comprises a master control module and a current stimulation module, wherein the master control module receives a signal output by the multi-dimensional force sensor, sends an instrument to the current stimulation module, provides tactile stimulation feedback through the current stimulation module, feeds real-time force information back to an operator and accordingly can guide the operator to exert an accurate acting force. Accordingly, the surgical robot provided with the electro-tactile feedback device can effectively improve the accuracy and stability of surgical operation.

Description

technical field [0001] The invention relates to a surgical robot, in particular to an electric tactile feedback device and a surgical robot equipped with the device. Background technique [0002] The objects of minimally invasive surgery are mostly tiny blood vessels and nerves, and the operation is very difficult, requiring the surgeon to have extremely high accuracy and stability. In recent years, due to the emergence of surgical robots, the operator can control the manipulator to flexibly interact with the surgical site by operating the main console, thereby helping the operator to complete complex and difficult surgical operations efficiently and easily. This fundamentally solves the problem of trembling in the operator's grip during the operation, and greatly improves the accuracy and stability of the operation. [0003] However, since the surgical robot adopts a remote operation mode, it is obviously not intuitive enough to judge the force applied by the manipulator o...

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