A Variable-Impedance Tactile Sensor With Online Performance Tuning for Tissue Hardness Palpation in Robot-Assisted Minimally Invasive Surgery

2018 ◽  
Author(s):  
Feng Ju ◽  
Yahui Yun ◽  
Zhao Zhang ◽  
Yaoyao Wang ◽  
Yaming Wang ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Tactile Sensor ◽  
Performance Tuning ◽  
Robot Assisted ◽  
Tissue Hardness

A resonant tactile stiffness sensor for lump localization in robot-assisted minimally invasive surgery

2019 ◽  
Vol 233 (9) ◽  
pp. 909-920
Author(s):  
Yahui Yun ◽  
Yaming Wang ◽  
Hao Guo ◽  
Yaoyao Wang ◽  
Hongtao Wu ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Theoretical Model ◽  
Minimally Invasive ◽  
Resonant Frequency ◽  
Frequency Shift ◽  
Invasive Surgery ◽  
Tactile Sensor ◽  
Tissue Stiffness ◽  
Robot Assisted ◽  
Resonant Frequency Shift

A miniature resonant tactile sensor for tissue stiffness detection in robot-assisted minimally invasive surgery is proposed in this article. The proposed tactile sensor can detect tissue stiffness based on the principle of the resonant frequency shift when it contacts with tissue of different stiffness. A PZT (lead zirconate titanate) bimorph works simultaneously as the actuator and the sensing element, which is helpful for simplifying the structure. The resonant frequency shift can be deduced by measuring the electrical impedance of the PZT bimorph, since there will be an abrupt change of the impedance when resonance occurs. A unique structure of an Archimedean spiral metal sheet is introduced to restrict the outer size of the sensor within 10 mm and to keep the resonant frequency low. A theoretical model is established. Finite element method analyses are carried out to validate the working principle and it meets the theoretical model quite well. Several silicone samples are tested with the sensor and the results show that the proposed sensor is capable of measuring tissue stiffness within the range of 0–2 MPa, detecting and locating lumps inside tissue.

scholarly journals Toward Teaching by Demonstration for Robot-Assisted Minimally Invasive Surgery

2021 ◽  
pp. 1-11
Author(s):  
Hang Su ◽  
Andrea Mariani ◽  
Salih Ertug Ovur ◽  
Arianna Menciassi ◽  
Giancarlo Ferrigno ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robot Assisted ◽  
Teaching By Demonstration

Multimodal data fusion framework enhanced robot-assisted minimally invasive surgery

2021 ◽  
pp. 014233122098435
Author(s):  
Wen Qi ◽  
Hang Su ◽  
Ke Fan ◽  
Ziyang Chen ◽  
Jiehao Li ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Data Fusion ◽  
Invasive Surgery ◽  
Robot Control ◽  
Surgical Robot ◽  
Robot Assisted ◽  
Multimodal Data ◽  
Multimodal Data Fusion ◽  
Fusion Framework

The generous application of robot-assisted minimally invasive surgery (RAMIS) promotes human-machine interaction (HMI). Identifying various behaviors of doctors can enhance the RAMIS procedure for the redundant robot. It bridges intelligent robot control and activity recognition strategies in the operating room, including hand gestures and human activities. In this paper, to enhance identification in a dynamic situation, we propose a multimodal data fusion framework to provide multiple information for accuracy enhancement. Firstly, a multi-sensors based hardware structure is designed to capture varied data from various devices, including depth camera and smartphone. Furthermore, in different surgical tasks, the robot control mechanism can shift automatically. The experimental results evaluate the efficiency of developing the multimodal framework for RAMIS by comparing it with a single sensor system. Implementing the KUKA LWR4+ in a surgical robot environment indicates that the surgical robot systems can work with medical staff in the future.

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