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Masui K, Kume N, Nakao M, Magaribuchi T, Hamada A, Kobayashi T, Sawada A. Vision-based estimation of manipulation forces by deep learning of laparoscopic surgical images obtained in a porcine excised kidney experiment. Sci Rep 2024; 14:9686. [PMID: 38678091 PMCID: PMC11055910 DOI: 10.1038/s41598-024-60574-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/16/2024] [Accepted: 04/24/2024] [Indexed: 04/29/2024] Open
Abstract
In robot-assisted surgery, in which haptics should be absent, surgeons experience haptics-like sensations as "pseudo-haptic feedback". As surgeons who routinely perform robot-assisted laparoscopic surgery, we wondered if we could make these "pseudo-haptics" explicit to surgeons. Therefore, we created a simulation model that estimates manipulation forces using only visual images in surgery. This study aimed to achieve vision-based estimations of the magnitude of forces during forceps manipulation of organs. We also attempted to detect over-force, exceeding the threshold of safe manipulation. We created a sensor forceps that can detect precise pressure at the tips with three vectors. Using an endoscopic system that is used in actual surgery, images of the manipulation of excised pig kidneys were recorded with synchronized force data. A force estimation model was then created using deep learning. Effective detection of over-force was achieved if the region of the visual images was restricted by the region of interest around the tips of the forceps. In this paper, we emphasize the importance of limiting the region of interest in vision-based force estimation tasks.
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Affiliation(s)
- Kimihiko Masui
- Department of Urology, Graduate School of Medicine, Kyoto University, 54 Shogoin-kawahara-cho, Sakyo-ku, Kyoto, 606-8507, Japan
| | - Naoto Kume
- Department of Medical Informatics, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Megumi Nakao
- Department of Advanced Medical Engineering and Intelligence, Graduate School of Medicine and Faculty of Medicine, Kyoto University, Kyoto, Japan
| | - Toshihiro Magaribuchi
- Department of Urology, Graduate School of Medicine, Kyoto University, 54 Shogoin-kawahara-cho, Sakyo-ku, Kyoto, 606-8507, Japan
| | - Akihiro Hamada
- Department of Urology, Graduate School of Medicine, Kyoto University, 54 Shogoin-kawahara-cho, Sakyo-ku, Kyoto, 606-8507, Japan
| | - Takashi Kobayashi
- Department of Urology, Graduate School of Medicine, Kyoto University, 54 Shogoin-kawahara-cho, Sakyo-ku, Kyoto, 606-8507, Japan.
| | - Atsuro Sawada
- Department of Urology, Faculty of Medicine, University of Miyazaki, 5200 Kiyotakecho Kihara, Miyazaki, 889-1692, Japan.
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Jain A, Tony B, Alphin M. Evaluation of the bio-dynamic response of the hand-arm system and hand-tool designs - A brief review. INTERNATIONAL JOURNAL OF OCCUPATIONAL SAFETY AND ERGONOMICS 2022; 29:586-595. [PMID: 35593190 DOI: 10.1080/10803548.2022.2060587] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/18/2022]
Abstract
Hand-operated tools transmit a high magnitude of vibration exposure to the hand-arm system that causes occupational diseases. The health effects caused in various countries for the past years due to usage of hand tools are necessary to identify the occupational disorders. Researchers have conducted various studies on biological effects, hand-transmitted vibration exposure and biodynamic responses throughout the years. This article goes over each of these studies in detail, as well as identifying areas where more research is needed. The majority of studies deal with the following topics: general guidelines for hand-transmitted vibrations; assessment techniques of vibration exposure; hand-tool evaluation methods; influence of hand-tool design to overcome the biomechanical effects; and finite element modelling for quantifying vibration exposure. In response to this, understanding the biodynamic behaviour of the hand-arm system is useful for better ergonomic intervention in hand tools to reduce fatigue and increase comfort.
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Affiliation(s)
- A.R. Jain
- Department of Mechanical Engineering, Birmingham City University-UAE Campus
| | - B Tony
- Department of Mechanical Engineering, Birmingham City University-UAE Campus
| | - M.S Alphin
- Department of Mechanical Engineering, Sri Sivasubramaniya Nadar College of Engineering, Chennai, India
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