scholarly journals Robotic System to Evaluate Force Feedback in Minimally Invasive Computer Aided Surgery

2004 ◽  
Author(s):  
Hermann Mayer ◽  
Istva´n Nagy ◽  
Alois Knoll ◽  
Eva Schirmbeck ◽  
Robert Bauernschmitt
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Force Measurement ◽  
Operation Time ◽  
Experimental System ◽  
Open Platform ◽  
Recovery Times

We present an experimental system for robot assisted, minimally invasive surgery that is capable of force measurement and haptic feedback. While minimally invasive surgery with robots provides several advantages like reduced tissue trauma and shorter recovery times, there are also some inherent short-comings. Referring to surgeons, the most significant issue is the lack of haptic feedback. This often causes collateral trauma and leads to prolonged operation time. Therefore we have developed an open platform, which combines the advantages of present systems with the possibility of force reflection. We have included features known from commercial available systems, like full Cartesian control of the end effector, stereo vision and ergonomic input devices. We used the system to perform basic surgical tasks (like knot-tying) and to evaluate force feedback.

MiroSurge—Advanced User Interaction Modalities in Minimally Invasive Robotic Surgery

2010 ◽  
Vol 19 (5) ◽  
pp. 400-414 ◽  
Author(s):  
Andreas Tobergte
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Feedback ◽  
Haptic Feedback ◽  
User Interaction ◽  
Tactile Feedback ◽  
Surgical Instruments ◽  
Direct Perception ◽  
Force Vectors

This paper presents MiroSurge, a telepresence system for minimally invasive surgery developed at the German Aerospace Center (DLR), and introduces MiroSurge's new user interaction modalities: (1) haptic feedback with software-based preservation of the fulcrum point, (2) an ultrasound-based approach to the quasi-tactile detection of pulsating vessels, and (3) a contact-free interface between surgeon and telesurgery system, where stereo vision is augmented with force vectors at the tool tip. All interaction modalities aim to increase the user's perception beyond stereo imaging by either augmenting the images or by using haptic interfaces. MiroSurge currently provides surgeons with two different interfaces. The first option, bimanual haptic interaction with force and partial tactile feedback, allows for direct perception of the remote environment. Alternatively, users can choose to control the surgical instruments by optically tracked forceps held in their hands. Force feedback is then provided in augmented stereo images by constantly updated force vectors displayed at the centers of the teleoperated instruments, regardless of the instruments' position within the video image. To determine the centerpoints of the instruments, artificial markers are attached and optically tracked. A new approach to detecting pulsating vessels beneath covering tissue with an omnidirectional ultrasound Doppler sensor is presented. The measurement results are computed and can be provided acoustically (by displaying the typical Doppler sound), optically (by augmenting the endoscopic video stream), or kinesthetically (by a gentle twitching of the haptic input devices). The control structure preserves the fulcrum point in minimally invasive surgery and user commands are followed by the surgical instrument. Haptic feedback allows the user to distinguish between interaction with soft and hard environments. The paper includes technical evaluations of the features presented, as well as an overview of the system integration of MiroSurge.

Mechanical Manipulator for Intuitive Control of Endoscopic Instruments With Seven Degrees of Freedom

2004 ◽  
Author(s):  
J. E. N. Jaspers ◽  
M. Shehata ◽  
F. Wijkhuizen ◽  
J. L. Herder ◽  
C. A. Grimbergen
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Complex Tasks ◽  
Steel Wires

Performing complex tasks in Minimally Invasive Surgery (MIS) is demanding due to a disturbed hand-eye co-ordination, the use of non-ergonomic instruments with limited degrees of freedom (DOFs) and a lack of force feedback. Robotic telemanipulatory systems enhance surgical dexterity by providing up to 7 DOFs. They allow the surgeon to operate in an ergonomically favorable position with more intuitive manipulation of the instruments. Commercially available robotic systems, however, are very bulky, expensive and do not provide any force feedback. The aim of our study was to develop a simple mechanical manipulator for MIS. When manipulating the handle of the device, the surgeon’s wrist and grasping movements are directly transmitted to the deflectable instrument tip in 7 DOFs. The manipulator consists of a parallelogram mechanism with steel wires. First phantom experience indicated that the system functions properly. The MIM provides some force feedback improving safety. A set of MIMs seems to be an economical and compact alternative for robotic systems.

scholarly journals Force Feedback Plays a Significant Role in Minimally Invasive Surgery

2005 ◽  
Vol 241 (1) ◽  
pp. 102-109 ◽  
Author(s):  
Gregory Tholey ◽  
Jaydev P. Desai ◽  
Andres E. Castellanos
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Significant Role ◽  
Invasive Surgery ◽  
Force Feedback

Real-Time 2D Surface Profile Mapping of Biological Tissue with Force Feedback in Robot-Assisted Minimally Invasive Surgery

2015 ◽  
Vol 798 ◽  
pp. 319-323
Author(s):  
Ali Reza Hassan Beiglou ◽  
Javad Dargahi
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Real Time ◽  
Invasive Surgery ◽  
Strain Gauge ◽  
Force Feedback ◽  
Surface Profile ◽  
Robot Assisted ◽  
Contact Points ◽  
Force Signal

It has been more than 20 years that robot-assisted minimally invasive surgery (RMIS) has brought remarkable accuracy and dexterity for surgeons along with the decreasing trauma for the patients. In this paper a novel method of the tissue’s surface profile mapping is proposed. The tissue surface profile plays an important role for material identification during RMIS. It is shown how by integrating the force feedback into robot controller the surface profile of the tissue can be obtained with force feedback scanning. The experiment setup includes a 5 degree of freedoms (DOFs) robot which is equipped with a strain-gauge ball caster as the force feedback. Robot joint encoders signals and the captured force signal of the strain-gauge are transferred to developed surface transformation algorithm (STA). The real-time geometrical transformation process is triggered with force signal to identify contact points between the ball caster and the artificial tissue. The 2D surface profile of tissue will be mapped based on these contact points. Real-time capability of the proposed system is evaluated experimentally for the artifical tissues in a designed test rig.

Dynamic Modeling of an Innovative Piezoelectric Actuator for Minimally Invasive Surgery

1999 ◽  
Author(s):  
Benjamin Edinger ◽  
Mary Frecker ◽  
John Gardner
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Dynamic Model ◽  
Invasive Surgery ◽  
Force Measurement ◽  
Equations Of Motion ◽  
Measurement Model ◽  
End Effector ◽  
Simulation Results ◽  
Optimal Driving

Abstract A small piezoelectric inchworm actuator has been designed for use with a monolithic compliant end-effector in minimally invasive surgery procedures. A dynamic model of the inchworm actuator has been developed using SIMULINK. Utilizing the equations of motion for the inchworm actuator, the dynamic characteristics of the piezoelectric stack material, and the known compliance of the gripper, a force measurement model has been developed which extracts resisting force information from the piezoelectric signal. The focus of this paper is on the development of the dynamic model and the results of a simulation study that will be used to develop optimal driving signals for the inchworm actuator. Simulation results include the predicted displacement capabilities and settling time of the inchworm actuator over a range of driving frequencies.

Force feedback grasper helps bestore sense of touch in minimally invasive surgery

1998 ◽  
Vol 114 ◽  
pp. A1408
Author(s):  
M. MacFarlane ◽  
J. Rosen ◽  
B. Hannaford ◽  
C. Pellegrini ◽  
M. Sinanan
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Feedback ◽  
Sense Of Touch

Influence of visual force feedback on tissue handling in minimally invasive surgery

2014 ◽  
Vol 101 (13) ◽  
pp. 1766-1773 ◽  
Author(s):  
S. P. Rodrigues ◽  
T. Horeman ◽  
P. Sam ◽  
J. Dankelman ◽  
J. J. van den Dobbelsteen ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Feedback ◽  
Tissue Handling ◽  
Visual Force Feedback

Miniature 6-axis force/torque sensor for force feedback in robot-assisted minimally invasive surgery

2015 ◽  
Vol 22 (12) ◽  
pp. 4566-4577 ◽  
Author(s):  
Kun Li ◽  
Bo Pan ◽  
Wen-peng Gao ◽  
Hai-bo Feng ◽  
Yi-li Fu ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Force Feedback ◽  
Torque Sensor ◽  
Robot Assisted
Sign in / Sign up

Export Citation Format

Share Document