Minimally Invasive Force Sensing for Tendon-driven Robots

10.5772/10311 ◽  
2010 ◽  
Author(s):  
Alberto Cavallo ◽  
Guiseppe De ◽  
Ciro Natale ◽  
Salvatore Pirozzi
Keyword(s):  
Minimally Invasive ◽  
Force Sensing

An indentation depth—force sensing wheeled probe for abnormality identification during minimally invasive surgery

2010 ◽  
Vol 224 (6) ◽  
pp. 751-763 ◽  
Author(s):  
H Liu ◽  
P Puangmali ◽  
D Zbyszewski ◽  
O Elhage ◽  
P Dasgupta ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Indentation Depth ◽  
Force Sensing

Force sensing of multiple-DOF cable-driven instruments for minimally invasive robotic surgery

2013 ◽  
Vol 10 (3) ◽  
pp. 314-324 ◽  
Author(s):  
Chao He ◽  
Shuxin Wang ◽  
Hongqiang Sang ◽  
Jinhua Li ◽  
Linan Zhang
Keyword(s):  
Robotic Surgery ◽  
Minimally Invasive ◽  
Force Sensing ◽  
Minimally Invasive Robotic Surgery

A novel force sensing integrated into the trocar for minimally invasive robotic surgery

2017 ◽  
Author(s):  
G. A. Fontanelli ◽  
L. R. Buonocore ◽  
F. Ficuciello ◽  
L. Villani ◽  
B. Siciliano
Keyword(s):  
Robotic Surgery ◽  
Minimally Invasive ◽  
Force Sensing ◽  
Minimally Invasive Robotic Surgery

scholarly journals Providing haptic feedback in robot-assisted minimally invasive surgery: A direct optical force-sensing solution for haptic rendering of deformable bodies

2013 ◽  
Vol 18 (5-6) ◽  
pp. 129-141 ◽  
Author(s):  
Shervin Ehrampoosh ◽  
Mohit Dave ◽  
Michael A. Kia ◽  
Corneliu Rablau ◽  
Mehrdad H. Zadeh
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Haptic Feedback ◽  
Haptic Rendering ◽  
Optical Force ◽  
Force Sensing ◽  
Robot Assisted ◽  
Deformable Bodies

scholarly journals Toward force detection of a cable-driven micromanipulator for a surgical robot based on disturbance observer

2017 ◽  
Vol 8 (2) ◽  
pp. 323-335
Author(s):  
Wenjie Wang ◽  
Lingtao Yu ◽  
Jing Yang
Keyword(s):  
Minimally Invasive ◽  
External Force ◽  
Disturbance Observer ◽  
Joint Angle ◽  
Surgical Robot ◽  
Force Sensing ◽  
Average Error ◽  
Feedback Signal ◽  
Loop Control ◽  
Tissue Properties

Abstract. Force sensing plays an important role in minimally invasive surgery (MIS). Force sensing makes it possible for the surgeon to feel the tissue properties and apply an appropriate level force and avoid tissue damage. The micromanipulators are compact and to allow appropriate disinfection, it is inappropriate to integrate sensors at the end of the micromanipulator. In this study, a new asymmetric cable-driven type of micromanipulator for a surgical robot was designed, and a joint angle estimator (JAE) was designed based on the dynamical model of the single cable-driven joint. Closed-loop control of the joint angle was carried out by regarding the JAE output as the feedback signal. On this basis, an external force estimator was designed using a disturbance observer (DOB). The experimental results show an average accuracy of the joint angle estimator of about −0.150°, with excellent control precision, the largest absolute error of about 0.95°, and an average error of 0.175°. The accuracy of the force estimator was at a high level during static loading. The estimated accuracy was 94 % at external force is greater than 1 N, and the estimated accuracy was 82 % for an external force of 0.3 N. These results predict that force sensing of a cable-driven micromanipulator in this paper can used to realize the micromanipulator's force feedback of a minimally invasive surgical robot.

The application of force sensing to skills assessment in Minimally Invasive Surgery

2013 ◽  
Author(s):  
Ana Luisa Trejos ◽  
Rajni V. Patel ◽  
Michael D. Naish ◽  
Richard Malthaner ◽  
Christopher Schlachta
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Sensing ◽  
Skills Assessment

S-Surge: Novel Portable Surgical Robot with Multiaxis Force-Sensing Capability for Minimally Invasive Surgery

2017 ◽  
Vol 22 (4) ◽  
pp. 1717-1727 ◽  
Author(s):  
Uikyum Kim ◽  
Dong-Hyuk Lee ◽  
Yong Bum Kim ◽  
Dong-Yeop Seok ◽  
Jinho So ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Surgical Robot ◽  
Force Sensing

Three-dimensional nonlinear force-sensing method based on double microgrippers with E-type vertical elastomer for minimally invasive robotic surgery

Robotica ◽  
2018 ◽  
Vol 36 (6) ◽  
pp. 865-881 ◽  
Author(s):  
Lingtao Yu ◽  
Yusheng Yan ◽  
Chenzheng Li ◽  
Xiufeng Zhang
Keyword(s):  
Robotic Surgery ◽  
Minimally Invasive ◽  
Large Strain ◽  
Strain Difference ◽  
Three Dimensional ◽  
Force Sensing ◽  
Pulling Forces ◽  
Nonlinear Force ◽  
Minimally Invasive Robotic Surgery ◽  
Relationship Of

SUMMARYThis paper presents a new type of forceps that consist of two microgrippers with the capability of direct force sensing, which enables grasping and manipulating forces at the tip of surgical instrument for minimally invasive robotic surgery. For the prototype design of the forceps, a double E-type vertical elastomer with four strain beams is presented, whose force-sensing principle is expounded. Thus, the forceps with the elastomer can be considered a compliant component, which provides tiny displacements that allow large strain, and the overall diameter is 10 mm. The sizes of the elastomer and forceps are successively determined by analyzing the relationship of several parameters and strain. Then, the linearity analysis of strain beams determines the positions to apply gauges for sensing. The two-dimensional force decoupling models for a single microgripper are proposed based on piecewise analytical polynomials of the strain difference and employed to develop a new three-dimensional force nonlinear decoupling algorithm based on double microgrippers, which realizes single-axial grasping and three-axial pulling forces. Finally, the required force-sensing performance of the proposed method is successfully verified in theory using finite-element simulations.

scholarly journals Tactile Sensing for Minimally Invasive Surgery: Conventional Methods and Potential Emerging Tactile Technologies

2022 ◽  
Vol 8 ◽  
Author(s):  
Wael Othman ◽  
Zhi-Han A. Lai ◽  
Carlos Abril ◽  
Juan S. Barajas-Gamboa ◽  
Ricard Corcelles ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Emerging Technologies ◽  
Surgical Instruments ◽  
Force Sensing ◽  
Tactile Sensing ◽  
Robotic Assisted ◽  
Surgical Tools ◽  
Robotic Assisted Surgery

As opposed to open surgery procedures, minimally invasive surgery (MIS) utilizes small skin incisions to insert a camera and surgical instruments. MIS has numerous advantages such as reduced postoperative pain, shorter hospital stay, faster recovery time, and reduced learning curve for surgical trainees. MIS comprises surgical approaches, including laparoscopic surgery, endoscopic surgery, and robotic-assisted surgery. Despite the advantages that MIS provides to patients and surgeons, it remains limited by the lost sense of touch due to the indirect contact with tissues under operation, especially in robotic-assisted surgery. Surgeons, without haptic feedback, could unintentionally apply excessive forces that may cause tissue damage. Therefore, incorporating tactile sensation into MIS tools has become an interesting research topic. Designing, fabricating, and integrating force sensors onto different locations on the surgical tools are currently under development by several companies and research groups. In this context, electrical force sensing modality, including piezoelectric, resistive, and capacitive sensors, is the most conventionally considered approach to measure the grasping force, manipulation force, torque, and tissue compliance. For instance, piezoelectric sensors exhibit high sensitivity and accuracy, but the drawbacks of thermal sensitivity and the inability to detect static loads constrain their adoption in MIS tools. Optical-based tactile sensing is another conventional approach that facilitates electrically passive force sensing compatible with magnetic resonance imaging. Estimations of applied loadings are calculated from the induced changes in the intensity, wavelength, or phase of light transmitted through optical fibers. Nonetheless, new emerging technologies are also evoking a high potential of contributions to the field of smart surgical tools. The recent development of flexible, highly sensitive tactile microfluidic-based sensors has become an emerging field in tactile sensing, which contributed to wearable electronics and smart-skin applications. Another emerging technology is imaging-based tactile sensing that achieved superior multi-axial force measurements by implementing image sensors with high pixel densities and frame rates to track visual changes on a sensing surface. This article aims to review the literature on MIS tactile sensing technologies in terms of working principles, design requirements, and specifications. Moreover, this work highlights and discusses the promising potential of a few emerging technologies towards establishing low-cost, high-performance MIS force sensing.

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