Visually perceived force feedback in simulated robotic surgery

2003 ◽  
Author(s):  
C. G. L. Cao ◽  
J. L. Webster ◽  
J. O. Perreault ◽  
S. Schwaitzberg ◽  
G. Rogers
Keyword(s):  
Robotic Surgery ◽  
Force Feedback ◽  
Perceived Force

Visually Perceived Force Feedback in Simulated Robotic Surgery

2003 ◽  
Vol 47 (12) ◽  
pp. 1466-1470 ◽  
Author(s):  
C. G. L. Cao ◽  
J. L. Webster ◽  
J. O. Perreault ◽  
S. Schwaitzberg ◽  
G. Rogers
Keyword(s):  
Robotic Surgery ◽  
Force Feedback ◽  
Perceived Force

Surgical Slave with a Novel Method for Force Sensing and Trocar Friction Reduction

2012 ◽  
Vol 622-623 ◽  
pp. 1362-1367
Author(s):  
W. Schwalb ◽  
Bijan Shirinzadeh ◽  
J. Smith
Keyword(s):  
Minimally Invasive Surgery ◽  
Robotic Surgery ◽  
Paradigm Shift ◽  
Force Feedback ◽  
Cost Benefit ◽  
Day Surgery ◽  
Friction Reduction ◽  
Force Sensing ◽  
Novel Method ◽  
Design Requirements

Minimally invasive surgery (MIS) has had a major impact on modern day surgery, and has become the standard for various procedures. MIS however suffers from various impediments, and as a result, has seen robotic surgery gain rapid popularity. It is yet to be seen whether robotic surgery will cause another major paradigm shift, as these systems still require large costs, take up too much space, have an unclear cost benefit, and provide little or no force feedback. This paper presents a slave design for MIS, and a brief literature review on design requirements is given. A novel tool design for force/torque sensing is discussed, which uses an overcoat method to reduce measurement corruption at the trocar, and uses a single external 6-DOF f/t sensor.

The Benefit of Force Feedback in Surgery: Examination of Blunt Dissection

2007 ◽  
Vol 16 (3) ◽  
pp. 252-262 ◽  
Author(s):  
Christopher R. Wagner ◽  
Nicholas Stylopoulos ◽  
Patrick G. Jackson ◽  
Robert D. Howe
Keyword(s):  
Robotic Surgery ◽  
Force Feedback ◽  
Peak Force ◽  
Surrounding Tissue ◽  
Surgical Experience ◽  
Blunt Dissection ◽  
Average Force ◽  
Operative Site ◽  
Damage Tissue ◽  
Force Magnitude

Force feedback is widely assumed to enhance performance in robotic surgery, but its benefits have not yet been systematically assessed. In this study we examine the effects of force feedback on a blunt dissection task. Twenty subjects used a telerobotic system to expose an artery in a synthetic model while viewing the operative site with a video laparoscope. Subjects were drawn from a range of surgical backgrounds, from inexperienced to attending surgeons. Performance was compared between three force feedback gains: 0% (no force feedback), 37%, and 75%. The absence of force feedback increased the average force magnitude applied to the tissue by at least 50%, and increased the peak force magnitude by at least 100%. The number of errors that damage tissue increased by over a factor of 3. The rate and precision of dissection were not significantly enhanced with force feedback. These results hold across all levels of previous surgical experience. We hypothesize that force feedback is helpful in this blunt dissection task because the artery is stiffer than the surrounding tissue. This mechanical contrast serves to constrain the subject's hand from commanding inappropriate motions that generate large forces.

DEVELOPMENT OF A SIX-DIMENSIONAL SENSOR FOR MINIMALLY INVASIVE ROBOTIC SURGERY

2014 ◽  
Vol 14 (05) ◽  
pp. 1450074 ◽  
Author(s):  
JUN JIANG ◽  
LE XIE ◽  
HAILONG YU ◽  
WENWEI YU ◽  
BO WU
Keyword(s):  
Robotic Surgery ◽  
Minimally Invasive ◽  
Force Feedback ◽  
Numerical Control ◽  
Element Analysis ◽  
Experimental Calibration ◽  
Nc Machine ◽  
Nc Machine Tools ◽  
Decoupling Mechanism ◽  
Minimally Invasive Robotic Surgery

In minimally invasive robotic surgery (MIRS), the force/torque which occurred between instruments and organs cannot be accessed by surgeon. This paper presents development of a six-dimensional sensor based on double-hole parallel crossing beam, which can be integrated into instruments of MIRS. The size of sensor is 9.8 mm (diameter) × 6 mm (height). The structure of the sensor can acquire the force signals directly. The decoupling mechanism of the sensor was analyzed. The result of the finite element analysis (FEA) showed that the maximum coupling error was 3.8%. The machining error of the sensor was also investigated, and it was feasible for numerical control (NC) machine tools to manufacture the components of the sensor. The experimental calibration and soft tissue experiment indicated that the developed sensor can measure the force/torque loaded on the instrument and can be used to obtain the force feedback in the application of teleoperation surgical robot.

A micro optical force sensor for force feedback during minimally invasive robotic surgery

2004 ◽  
Vol 115 (2-3) ◽  
pp. 447-455 ◽  
Author(s):  
Jan Peirs ◽  
Joeri Clijnen ◽  
Dominiek Reynaerts ◽  
Hendrik Van Brussel ◽  
Paul Herijgers ◽  
...  
Keyword(s):  
Robotic Surgery ◽  
Minimally Invasive ◽  
Force Feedback ◽  
Force Sensor ◽  
Optical Force ◽  
Minimally Invasive Robotic Surgery
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