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Yan Y, Sun T, Ren T, Ding L. Enhanced grip force estimation in robotic surgery: A sparrow search algorithm-optimized backpropagation neural network approach. MATHEMATICAL BIOSCIENCES AND ENGINEERING : MBE 2024; 21:3519-3539. [PMID: 38549294 DOI: 10.3934/mbe.2024155] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 04/02/2024]
Abstract
The absence of an effective gripping force feedback mechanism in minimally invasive surgical robot systems impedes physicians' ability to accurately perceive the force between surgical instruments and human tissues during surgery, thereby increasing surgical risks. To address the challenge of integrating force sensors on minimally invasive surgical tools in existing systems, a clamping force prediction method based on mechanical clamp blade motion parameters is proposed. The interrelation between clamping force, displacement, compression speed, and the contact area of the clamp blade indenter was analyzed through compression experiments conducted on isolated pig kidney tissue. Subsequently, a prediction model was developed using a backpropagation (BP) neural network optimized by the Sparrow Search Algorithm (SSA). This model enables real-time prediction of clamping force, facilitating more accurate estimation of forces between instruments and tissues during surgery. The results indicate that the SSA-optimized model outperforms traditional BP networks and genetic algorithm-optimized (GA) BP models in terms of both accuracy and convergence speed. This study not only provides technical support for enhancing surgical safety and efficiency, but also offers a novel research direction for the design of force feedback systems in minimally invasive surgical robots in the future.
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Affiliation(s)
- Yongli Yan
- Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100083, China
| | - Tiansheng Sun
- The Fourth Medical Center of China General Hospital of People's Liberation Army, Beijing 100700, China
| | - Teng Ren
- School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, China
| | - Li Ding
- Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100083, China
- School of Biological Science and Medical Engineering, Beihang University, Beijing 100083, China
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2
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Measuring interaction forces in surgical telemanipulation using conventional instruments. ROBOTICA 2022. [DOI: 10.1017/s0263574722001758] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/24/2022]
Abstract
Abstract
Minimally invasive surgery (MIS) has been an essential tool in the surgical sector for many years due to its crucial advantages compared to open surgery. To overcome remaining limitations, teleoperated MIS experienced a strong emergence. However, the widespread usage of such systems is hindered by the enormous financial hurdle. The use of standard components and conventional tools for teleoperated MIS can facilitate integration into existing hospital workflows and can be a cost-efficient and versatile approach for research purposes. To compensate for the lack of haptic feedback, some teleoperation setups inherit a sensor system allowing them to record interaction forces and display them at the user interface. In research and in commercially available systems, different positions for the sensor can be found. In this paper, mechanical interfaces for the guidance and actuation of non-wristed and wristed standard instruments are presented. Furthermore, a method for the extracorporeal measurement of interaction forces is presented, characterized, and discussed. The overall mean relative error of the magnitude of the interaction force is 9.4%, while the overall mean absolute error of the force vector is 14.4
$^{\circ }$
, both below the respective human differential perception threshold. The presented measurement method is a simple, yet sufficiently accurate approach to measure interaction forces in surgical telemanipulation.
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3
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Othman W, Lai ZHA, Abril C, Barajas-Gamboa JS, Corcelles R, Kroh M, Qasaimeh MA. Tactile Sensing for Minimally Invasive Surgery: Conventional Methods and Potential Emerging Tactile Technologies. Front Robot AI 2022; 8:705662. [PMID: 35071332 PMCID: PMC8777132 DOI: 10.3389/frobt.2021.705662] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/05/2021] [Accepted: 11/04/2021] [Indexed: 11/13/2022] Open
Abstract
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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Affiliation(s)
- Wael Othman
- Engineering Division, New York University Abu Dhabi, Abu Dhabi, United Arab Emirates
- Mechanical and Aerospace Engineering, New York University, New York, NY, United States
| | - Zhi-Han A. Lai
- Engineering Division, New York University Abu Dhabi, Abu Dhabi, United Arab Emirates
| | - Carlos Abril
- Digestive Disease Institute, Cleveland Clinic Abu Dhabi, Abu Dhabi, United Arab Emirates
| | - Juan S. Barajas-Gamboa
- Digestive Disease Institute, Cleveland Clinic Abu Dhabi, Abu Dhabi, United Arab Emirates
| | - Ricard Corcelles
- Digestive Disease and Surgery Institute, Cleveland Clinic Main Campus, Cleveland, OH, United States
- Cleveland Clinic Lerner College of Medicine, Cleveland, OH, United States
| | - Matthew Kroh
- Digestive Disease Institute, Cleveland Clinic Abu Dhabi, Abu Dhabi, United Arab Emirates
| | - Mohammad A. Qasaimeh
- Engineering Division, New York University Abu Dhabi, Abu Dhabi, United Arab Emirates
- Mechanical and Aerospace Engineering, New York University, New York, NY, United States
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Iwai T, Kanno T, Miyazaki T, Haraguchi D, Kawashima K. Pneumatically driven surgical forceps displaying a magnified grasping torque. Int J Med Robot 2020; 16:e2051. [PMID: 31710158 PMCID: PMC7154778 DOI: 10.1002/rcs.2051] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/28/2019] [Revised: 10/23/2019] [Accepted: 10/23/2019] [Indexed: 11/13/2022]
Abstract
BACKGROUND Sensing the grasping force and displaying the force for the operator are important for safe operation in robot-assisted surgery. Although robotic forceps that senses the force by force sensors or driving torque of electric motors is proposed, the force sensors and the motors have some problems such as increase in weight and difficulty of the sterilization. METHOD We developed a pneumatically driven robotic forceps that estimates the grasping torque and display the magnified torque for the operator. The robotic forceps has a master device and a slave robot, and they are integrated. In the slave side, the grasping torque is estimated by the pressure change in the pneumatic cylinder. A pneumatic bellows display the torque through a linkage. RESULTS We confirmed that the slave robot follows the motion of the master, and the grasping torque is estimated in the accuracy of 7 mNm and is magnified and displayed for the operator. CONCLUSIONS The pneumatically driven robotic forceps has the capability in the estimation of the grasping torque and display of the torque. Regarding future work, the usability and fatigues of the surgeons must be evaluated.
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Affiliation(s)
- Takuya Iwai
- Department of Biomechanics, Institute of Biomaterials and BioengineeringTokyo Medical and Dental UniversityTokyoJapan
| | - Takahiro Kanno
- Department of Biomechanics, Institute of Biomaterials and BioengineeringTokyo Medical and Dental UniversityTokyoJapan
| | - Tetsuro Miyazaki
- Department of Biomechanics, Institute of Biomaterials and BioengineeringTokyo Medical and Dental UniversityTokyoJapan
| | - Daisuke Haraguchi
- Department of Laboratory for Future Interdisciplinary Research of Science and TechnologyInstitute of Innovative Research, Tokyo Institute of TechnologyYokohamaJapan
| | - Kenji Kawashima
- Department of Biomechanics, Institute of Biomaterials and BioengineeringTokyo Medical and Dental UniversityTokyoJapan
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5
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Yu L, Yu X, Zhang Y. Microinstrument contact force sensing based on cable tension using BLSTM–MLP network. INTEL SERV ROBOT 2019. [DOI: 10.1007/s11370-019-00306-6] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/25/2022]
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6
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Three-dimensional nonlinear force-sensing method based on double microgrippers with E-type vertical elastomer for minimally invasive robotic surgery. ROBOTICA 2018. [DOI: 10.1017/s0263574718000085] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/26/2023]
Abstract
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.
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7
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Li Y, Hannaford B. Gaussian Process Regression for Sensorless Grip Force Estimation of Cable Driven Elongated Surgical Instruments. IEEE Robot Autom Lett 2017; 2:1312-1319. [PMID: 29130067 PMCID: PMC5679484 DOI: 10.1109/lra.2017.2666420] [Citation(s) in RCA: 34] [Impact Index Per Article: 4.9] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
Haptic feedback is a critical but a clinically missing component in robotic Minimally Invasive Surgeries. This paper proposes a Gaussian Process Regression(GPR) based scheme to address the gripping force estimation problem for clinically commonly used elongated cable-driven surgical instruments. Based on the cable-driven mechanism property studies and surgical robotic system properties, four different Gaussian Process Regression filters were designed and analyzed, including: one GPR filter with 2-dimensional inputs, one GPR filter with 3-dimensional inputs, one GPR Unscented Kalman Filter (UKF) with 2-dimensional inputs, and one GPR UKF with 3-dimensional inputs. The four proposed methods were compared with the dynamic model based UKF filter on a 10mm gripper on the Raven-II surgical robot platform. The experimental results demonstrated that the four proposed methods outperformed the dynamic model based method on precision and reliability without parameter tuning. And surprisingly, among the four methods, the simplest GPR Filter with 2-dimensional inputs has the best performance.
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Affiliation(s)
- Yangming Li
- Yangming Li is with Department of Electrical Engineering, University of Washington, Seattle, WA, USA 98195
| | - Blake Hannaford
- Blake Hannaford is with Departments of Electrical Engineering, Bioengineering, Mechanical Engineering, and Surgery, University of Washington, Seattle, WA, USA 98195
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8
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Antonelli MG, Beomonte Zobel P, Durante F, Gaj F. Development and testing of a grasper for NOTES powered by variable stiffness pneumatic actuation. Int J Med Robot 2017; 13. [PMID: 28078822 DOI: 10.1002/rcs.1796] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/27/2016] [Revised: 09/17/2016] [Accepted: 10/28/2016] [Indexed: 11/11/2022]
Abstract
BACKGROUND In natural orifice transluminal endoscopic surgery (NOTES) the peritoneal cavity is reached through natural orifices (mouth, rectus and transvaginal duct), by means of little cuttings in the walls of hollow organs. Due to narrow spaces, NOTES needs robotic systems to assure operation/movement precision and patient safety. Variable stiffness actuation (VSA) assures both requirements. METHODS The authors developed a grasper for NOTES, provided with VSA, to use as an end-effector for snail robot devices. The present paper deals with basic concepts of VSA and describes the design and architecture of the grasper. Characterization and functional experiments were performed and results analysed. RESULTS A finite element model developed for the actuator design was validated, performance grasper characteristic curves were obtained, VSA was validated, and the gripping capability of several objects was assessed. CONCLUSION The grasper satisfies technical design specifications. On the basis of the results obtained, a control system can be developed to test grasper in a simulated surgery environment.
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Affiliation(s)
- Michele Gabrio Antonelli
- Department of Industrial and Information Engineering and Economics, University of L'Aquila, Italy
| | - Pierluigi Beomonte Zobel
- Department of Industrial and Information Engineering and Economics, University of L'Aquila, Italy
| | - Francesco Durante
- Department of Industrial and Information Engineering and Economics, University of L'Aquila, Italy
| | - Fabio Gaj
- Policlinico Umberto I - Dipartimento di Chirurgia Generale e Trapianti d'Organo, Istituto 'Paride Stefanini', Università La Sapienza, Rome, Italy
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9
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Zhao B, Nelson CA. Estimating Tool-Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool. JOURNAL OF MECHANISMS AND ROBOTICS 2016; 8:0510151-5101510. [PMID: 27303591 PMCID: PMC4861859 DOI: 10.1115/1.4032591] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/08/2015] [Revised: 12/10/2015] [Indexed: 06/06/2023]
Abstract
Robot-assisted minimally invasive surgery (MIS) has gained popularity due to its high dexterity and reduced invasiveness to the patient; however, due to the loss of direct touch of the surgical site, surgeons may be prone to exert larger forces and cause tissue damage. To quantify tool-tissue interaction forces, researchers have tried to attach different kinds of sensors on the surgical tools. This sensor attachment generally makes the tools bulky and/or unduly expensive and may hinder the normal function of the tools; it is also unlikely that these sensors can survive harsh sterilization processes. This paper investigates an alternative method by estimating tool-tissue interaction forces using driving motors' current, and validates this sensorless force estimation method on a 3-degree-of-freedom (DOF) robotic surgical grasper prototype. The results show that the performance of this method is acceptable with regard to latency and accuracy. With this tool-tissue interaction force estimation method, it is possible to implement force feedback on existing robotic surgical systems without any sensors. This may allow a haptic surgical robot which is compatible with existing sterilization methods and surgical procedures, so that the surgeon can obtain tool-tissue interaction forces in real time, thereby increasing surgical efficiency and safety.
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Affiliation(s)
- Baoliang Zhao
- Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68588 e-mail:
| | - Carl A Nelson
- Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68588
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10
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De S, Rosen J, Dagan A, Hannaford B, Swanson P, Sinanan M. Assessment of Tissue Damage due to Mechanical Stresses. Int J Rob Res 2016. [DOI: 10.1177/0278364907082847] [Citation(s) in RCA: 93] [Impact Index Per Article: 11.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022]
Abstract
While there are many benefits to minimally invasive surgery (MIS), force feedback or touch sensation is limited in the currently available MIS tools, such as surgical robots, creating the potential for excessive force application during surgery and unintended tissue injury. The goal of this work was to develop a methodology with which to identify stress magnitudes and durations that can be safely applied with a MIS grasper to di ferent tissues, potentially improving MIS device design and reducing potentially adverse clinically relevant consequences. Using the porcine model, stresses typically applied in MIS were applied to liver, ureter and small bowel using a motorized endoscopic grasper. Acute indicators of tissue damage including cellular death and infiltration of inflammatory cells were measured using histological and image analysis techniques. Finite element analysis was used to identify approximate stress distributions experienced by the tissues. Parameters used in these finite element models specifically reflected the properties of liver, which served as an initial proxy for all tissues, as stress distributions rather than absolute values were desired. Local regions predicted to have uniform stress by the computational models were mapped to and analyzed in the tissue samples for acute damage. Analysis of variance (ANOVA) and post-hoc analyses were used to detect stress magnitudes and durations that caused significantly increased tissue damage with the goal to ultimately identify safe stress `thresholds' during grasping of the studied tissues. Preliminary data suggests a graded non-linear response between applied stress magnitude and apoptosis in liver and small bowel as well as neutrophil infiltration in the small bowel. The ureter appeared to be more resistant to injury at the tested stress levels. By identifying stress magnitudes and durations within the range of grasping loads applied in MIS, it may be possible for researchers to create a `smart' surgical robot that can guide a surgeon to manipulate tissues with minimal resulting damage. In addition, surgical simulator design can be improved to reflect more realistic tissue responses and evaluate trainees' tissue handling skills.
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Affiliation(s)
- Smita De
- BioRobotics Laboratory, Department of Bioengineering University of Washington Box 352500, Seattle, WA 98195-2500, USA {sd6, rosen}@u.washington.edu, ,
| | - Jacob Rosen
- BioRobotics Laboratory, Department of Bioengineering University of Washington Box 352500, Seattle, WA 98195-2500, USA {sd6, rosen}@u.washington.edu, ,
| | - Aylon Dagan
- BioRobotics Laboratory, Department of Bioengineering University of Washington Box 352500, Seattle, WA 98195-2500, USA {sd6, rosen}@u.washington.edu, ,
| | - Blake Hannaford
- BioRobotics Laboratory, Department of Bioengineering University of Washington Box 352500, Seattle, WA 98195-2500, USA {sd6, rosen}@u.washington.edu, ,
| | - Paul Swanson
- Department of Anatomic Pathology University of Washington Box 352500, Seattle, WA 98195-2500, USA
| | - Mika Sinanan
- Department of Surgery, University of Washington Box 352500, Seattle, WA 98195-2500, USA
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11
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Zhao B, Nelson CA. Sensorless Force Sensing for Minimally Invasive Surgery. J Med Device 2016; 9:0410121-4101214. [PMID: 27222680 DOI: 10.1115/1.4031282] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.1] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/22/2015] [Revised: 07/28/2015] [Indexed: 11/08/2022] Open
Abstract
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.
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Affiliation(s)
- Baoliang Zhao
- Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68508 e-mail:
| | - Carl A Nelson
- Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68508 e-mail:
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12
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Li Y, Miyasaka M, Haghighipanah M, Cheng L, Hannaford B. Dynamic Modeling of Cable Driven Elongated Surgical Instruments for Sensorless Grip Force Estimation. IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION : ICRA : [PROCEEDINGS]. IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION 2016; 2016:4128-4134. [PMID: 34290900 PMCID: PMC8291034 DOI: 10.1109/icra.2016.7487605] [Citation(s) in RCA: 21] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
Abstract
Haptic feedback plays a key role in surgeries, but it is still a missing component in robotic Minimally Invasive Surgeries. This paper proposes a dynamic model-based sensorless grip force estimation method to address the haptic perception problem for commonly used elongated cable-driven surgical instruments. Cable and cable-pulley properties are studied for dynamic modeling; grip forces, along with driven motor and gripper jaw positions and velocities are jointly estimated with Unscented Kalman Filter and only motor encoder readings and motor output torques are assumed to be known. A bounding filter is used to compensate for model inaccuracy and to improve method robustness. The proposed method was validated on a 10mm gripper which is driven by a Raven-II surgical robot. The gripper was equipped with 1-dimensional force sensors which served as ground truth data. The experimental results showed that the proposed method provides sufficiently good grip force estimation, while only motor encoder and the motor torques are used as observations.
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Affiliation(s)
- Yangming Li
- Department of Electrical Engineering, University of Washington, Seattle, WA, USA 98195
| | - Muneaki Miyasaka
- Department of Mechanical Engineering, University of Washington, Seattle, WA, USA 98195
| | | | - Lei Cheng
- Department of Mechanical Engineering, University of Washington, Seattle, WA, USA 98195
| | - Blake Hannaford
- Departments of Electrical Engineering, Bioengineering, Mechanical Engineering, and Surgery, University of Washington, Seattle, WA, USA 98195
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13
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Ranzani T, Ciuti G, Tortora G, Arezzo A, Arolfo S, Morino M, Menciassi A. A Novel Device for Measuring Forces in Endoluminal Procedures. INT J ADV ROBOT SYST 2015. [DOI: 10.5772/60832] [Citation(s) in RCA: 8] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/16/2023] Open
Abstract
In this paper a simple but effective measuring system for endoluminal procedures is presented. The device allows measuring forces during the endoluminal manipulation of tissues with a standard surgical instrument for laparoscopic procedures. The force measurement is performed by recording both the forces applied directly by the surgeon at the instrument handle and the reaction forces on the access port. The measuring system was used to measure the forces necessary for appropriate surgical manipulation of tissues during transanal endoscopic microsurgery (TEM). Ex-vivo and in-vivo measurements were performed, reported and discussed. The obtained data can be used for developing and appropriately dimensioning novel dedicated instrumentation for TEM procedures.
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Affiliation(s)
- Tommaso Ranzani
- Harvard John A. Paulson School of Engineering and Applied Sciences, Wyss Institute for Biologically Inspired Engineering, Cambridge MA, USA
| | - Gastone Ciuti
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Italy
| | | | - Alberto Arezzo
- Department of Surgical Sciences, University of Torino, Italy
| | - Simone Arolfo
- Department of Surgical Sciences, University of Torino, Italy
| | - Mario Morino
- Department of Surgical Sciences, University of Torino, Italy
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14
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Affiliation(s)
- Baoliang Zhao
- Department of Mechanical and Materials Engineering, University of Nebraska–Lincoln, Lincoln, NE 68508
| | - Carl A. Nelson
- Department of Mechanical and Materials Engineering, University of Nebraska–Lincoln, Lincoln, NE 68508
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15
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He C, Wang S, Sang H, Li J, Zhang L. Force sensing of multiple-DOF cable-driven instruments for minimally invasive robotic surgery. Int J Med Robot 2013; 10:314-24. [DOI: 10.1002/rcs.1532] [Citation(s) in RCA: 22] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/26/2012] [Revised: 08/05/2013] [Accepted: 08/08/2013] [Indexed: 11/08/2022]
Affiliation(s)
- Chao He
- Beijing Institute of Spacecraft System Engineering; People's Republic of China
| | - Shuxin Wang
- Key Laboratory for Mechanism Theory and Equipment Design of Ministry of Education; Tianjin University, People's Republic of China
| | - Hongqiang Sang
- Key Laboratory for Mechanism Theory and Equipment Design of Ministry of Education; Tianjin University, People's Republic of China
| | - Jinhua Li
- Key Laboratory for Mechanism Theory and Equipment Design of Ministry of Education; Tianjin University, People's Republic of China
| | - Linan Zhang
- Key Laboratory for Mechanism Theory and Equipment Design of Ministry of Education; Tianjin University, People's Republic of China
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16
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Posterausstellung P141-167. BIOMED ENG-BIOMED TE 2011. [DOI: 10.1515/bmt.2011.864] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022]
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