Multi-axis robotic forceps with decoupled pneumatic actuation and force sensing for cochlear implantation.

Journal: Nature communications
PMID: 39952944

Abstract

Delicate manual microsurgeries rely on sufficient hands-on experience for safe manipulations. Automated surgical devices can enhance the effectiveness, but developing high-resolution, multi-axis force-sensing devices for micro operations remains challenging. In this study, a 6-axis force-sensing pneumatic forceps with a serial-parallel robotic platform for cochlear implantation is developed. The forceps features a curved body shape embedded with parallel and inclined fiber Bragg grating sensors for 6-axis force sensing, and a pneumatic gripper with decoupled actuation is located at its end for actively grasping and releasing the electrode array. The robotic platform comprises a customized spherical parallel mechanism and a robotic arm, which can provide independent 3-DOF rotations and 3-DOF translations. The feasibility of the developed robotic forceps is validated through cadaveric studies on a temporal bone and a human cadaveric head. In summary, the robotic forceps provides a decoupled mechanism for pneumatic actuation and force sensing, further demonstrating its potential for force interaction and stable operation during robotic microsurgery.

Authors

  • Hongyan Gao
    School of Computer Science and Software Engineering, University of Science and Technology Liaoning, Anshan, 114051, China.
  • Huanghua Liu
    Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, PR China.
  • Huan Jia
    Department of Otorhinolaryngology Head and Neck Surgery, Shanghai Ninth People's Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, PR China.
  • Zecai Lin
    Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, PR China.
  • Yun Zou
    Washington University in St. Louis, Department of Biomedical Engineering, St. Louis, Missouri, United States.
  • Zheng Xu
    Key Laboratory of Luminescence and Optical Information, Beijing Jiaotong University, Ministry of Education Beijing 100044 China zhengxu@bjtu.edu.cn ddsong@bjtu.edu.cn.
  • Shaoping Huang
    Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, PR China.
  • Haoyue Tan
    Department of Otorhinolaryngology Head and Neck Surgery, Shanghai Ninth People's Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, PR China.
  • Hao Wu
    Zhejiang Institute of Tianjin University (Shaoxing), Shaoxing, China.
  • Weidong Chen
    School of Pharmacy, Anhui University of Chinese Medicine, Hefei, 230031, China.
  • Anzhu Gao
    Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, P.R. China.

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