Model-Based grasp force estimation for minimally invasive surgery

2017 ◽  
Author(s):  
Xiaoxiao Xin ◽  
Xu Chen ◽  
Shoubin Liu ◽  
Baoliang Zhao ◽  
Peng Gao ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Estimation ◽  
Model Based ◽  
Grasp Force

External force estimation and implementation in robotically assisted minimally invasive surgery

2017 ◽  
Vol 13 (2) ◽  
pp. e1824 ◽  
Author(s):  
Hongqiang Sang ◽  
Jintian Yun ◽  
Reza Monfaredi ◽  
Emmanuel Wilson ◽  
Hadi Fooladi ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
External Force ◽  
Invasive Surgery ◽  
Force Estimation

scholarly journals Sensorless Force Sensing for Minimally Invasive Surgery

2015 ◽  
Vol 9 (4) ◽  
Author(s):  
Baoliang Zhao ◽  
Carl A. Nelson
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Haptic Feedback ◽  
Estimation Method ◽  
Tissue Reaction ◽  
Limiting Factor ◽  
Haptic Interfaces ◽  
Force Estimation ◽  
Reaction Forces

Robotic minimally invasive surgery (R-MIS) has achieved success in various procedures; however, the lack of haptic feedback is considered by some to be a limiting factor. The typical method to acquire tool–tissue reaction forces is attaching force sensors on surgical tools, but this complicates sterilization and makes the tool bulky. This paper explores the feasibility of using motor current to estimate tool-tissue forces and demonstrates acceptable results in terms of time delay and accuracy. This sensorless force estimation method sheds new light on the possibility of equipping existing robotic surgical systems with haptic interfaces that require no sensors and are compatible with existing sterilization methods.

V1695: Minimizing Minimally Invasive Surgery: the Three Port Robotic Pyeloplasty

2004 ◽  
Vol 171 (4S) ◽  
pp. 448-448
Author(s):  
Farjaad M. Siddiq ◽  
Patrick Villicana ◽  
Raymond J. Leveillee
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic Pyeloplasty
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