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.

Tool-Tissue Force Estimation for a 3-DOF Robotic Surgical Tool

2015 ◽  
Author(s):  
Baoliang Zhao ◽  
Carl A. Nelson
Keyword(s):  
Haptic Feedback ◽  
Estimation Method ◽  
Tissue Reaction ◽  
Limiting Factor ◽  
Haptic Interfaces ◽  
Force Estimation ◽  
Surgical Tools ◽  
Motor Current ◽  
Surgical Tool ◽  
Reaction Forces

Robotic minimally invasive surgery 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.

A Dual-Arm 7-Degrees-of-Freedom Haptics-Enabled Teleoperation Test Bed for Minimally Invasive Surgery

2014 ◽  
Vol 8 (4) ◽  
Author(s):  
Ali Talasaz ◽  
Ana Luisa Trejos ◽  
Simon Perreault ◽  
Harmanpreet Bassan ◽  
Rajni V. Patel
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Haptic Feedback ◽  
Sensory Substitution ◽  
Haptic Interfaces ◽  
Test Bed ◽  
Haptic Information ◽  
Dual Arm

This paper describes a dual-arm teleoperation (master-slave) system which has been developed to explore the effect of haptics in robotics-assisted minimally invasive surgery (RAMIS). This setup is capable of measuring forces in 7 degrees of freedom (DOF) and fully reflecting them to the operator through two 7-DOF haptic interfaces. An application of the test bed is in enabling the evaluation of the effect of replacing haptic feedback by other sensory cues such as visual representation of haptic information (sensory substitution). This paper discusses the design rationale, kinematic analysis and dynamic modeling of the robot manipulators, and the control system developed for the setup. Using the accurate model developed in this paper, a highly transparent haptics-enabled system can be achieved and used in robot-assisted telesurgery. Validation results obtained through experiments are presented and demonstrate the correctness and effectiveness of the developed models. The application of the setup for two RAMIS surgical tasks, a suture manipulation task and a tumor localization task, is described with different haptics modalities available through the developed haptics-enabled system for each application.

Conference Reports

Robotica ◽  
1998 ◽  
Vol 16 (4) ◽  
pp. 477-478
Author(s):  
Susan J. Lederman ◽  
Robert D. Howe
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Virtual Environments ◽  
Invasive Surgery ◽  
Architectural Design ◽  
Space Exploration ◽  
Haptic Interfaces ◽  
Annual Symposium ◽  
Human Machine Interaction ◽  
Machine Interaction

SIXTH ANNUAL SYMPOSIUM ON HAPTIC INTERFACESThe Sixth Annual Symposium for Haptic Interfaces for Virtual Environment and Teleoperator Systems was held on Nov. 17–18, 1997 in Dallas, Texas. Haptic interfaces are devices that allow human–machine interaction through force and touch. Areas of application include, but are by no means limited, to telemanipulation (for work in hazardous or challenging environments such as space exploration, undersea operations, microsurgery and minimally-invasive surgery, and hazardous waste clean-up) and virtual environments (for realistic interactions with computer simulations in critical procedure training, architectural design, product prototyping, and data visualization).

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
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