A micro optical force sensor for force feedback during minimally invasive robotic surgery

Peirs, Jan; Clijnen, Joeri; Reynaerts, Dominiek; Brussel, Hendrik Van; Herijgers, Paul; Corteville, Brecht; Boone, S

doi:10.1016/j.sna.2004.04.057

Cited by 307 publications

(159 citation statements)

References 2 publications

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“…It is using fiber optic cables as a medium instead of using electrical wires to carry force information from a sensing region to optoelectronic equipment. The principle is that the structure deformation caused by the interaction forces creates a change in the intensity of the light [17] or the phase of the light signal [18] as shown in Fig. 3 (b) and (c), respectively.…”

Section: Optical-based Force Detectionmentioning

confidence: 99%

Overview on Force Sensing Techniques in Robot-assisted Minimally Invasive Laparoscopic Surgery

Wang¹,

Wang²,

Lee³

2017

dtcse

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Abstract. Detection of interaction force between soft tissue and surgical instrument and perception of biomechanical property of tissue are imperative for reducing operation time and the risk of surgeon mistake. However, in Robot-assisted minimally invasive laparoscopic surgery (MILS), the surgeon's ability of perceiving valuable haptic information by manipulating the surgical robot system is severely impaired. In order to improve this ability of surgical robot, many university laboratories and research institutions have been committing to designing force sensor and developing force sensing techniques. According to a literature search work, which was performed within the publications of about twenty laboratories and research institutions working on surgical robot developing, this article attempts to summarize the force sensing techniques, force sensors and provide technical suggestions for the future development of force sensing for Robot-assisted MILS.

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Section: Optical-based Force Detectionmentioning

confidence: 99%

Overview on Force Sensing Techniques in Robot-assisted Minimally Invasive Laparoscopic Surgery

Wang¹,

Wang²,

Lee³

2017

dtcse

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“…Additionally, optical information could be transferred from the tip to the roots of the forceps without any electrical components. Peirs et al utilized optical fibers to transfer the visualized deformation of a flexible structure [22]. Tada et al detected the peak illumination changes of a light source embedded to a deformable structure [23].…”

Section: A Related Workmentioning

confidence: 99%

Incompressible liquid based force sensible silicone retractor attachable to surgical suction instruments

Koyama

Yoneyama

Nakada³

et al. 2016

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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Abstract-This paper presents a silicone retractor, which is a continuation and extension of a previously developed system that had the same three functions as the old version: 1) retracting, 2) suction, and 3) force sensing. These features make the retractor a safe choice for use in neurosurgery. Suction is achieved by attaching the retractor to a suction pipe. The retractor has a deformation area filled with an incompressible liquid that is displaced in proportion to the extent of deformation; fiberscopes or human eyes detecting the displacement get a visual representation of the force. The new design improves on the old one in three ways-miniaturization, made possible by the incompressible-liquid-based mechanism, and measurement of force distribution by distribution of the areas deformed by force. The system was validated by conducting experiments.

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“…하지만 수술용 로봇에서, 최 소침습을 위한 센서의 소형화와 인체 내부에서 전자기적 센 서를 사용하는 문제로 인해 힘 측정을 위한 센서를 사용하는 것은 어려운 실정이다. 광섬유를 이용한 힘 센서 개발 [7]과 간접적 측정법 [8]과 같은 방법으로 수술용 로봇의 힘 정보 해결을 위한 연구가 진행되었다. 또한 선행연구 [9,10]에서는 SPO기반의 힘 추정기법으로 수술용 로봇에서 반력 측정의 가능성을 제시했다.…”

Section: 서론 최소침습수술(Mis) 기법과 현대 로봇기술을 바탕으로 하 는 복강경 수술 로봇은 현재 Intuitunclassified

Impedance Model based Bilateral Control for Force reflection of a Laparoscopic Surgery Robot

Yoon¹,

Kim²,

Lee³

2014

Journal of Institute of Control, Robotics and Systems

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LAS (Laparoscopy Assisted Surgery) has been substituted alternatively for traditional open surgery. However, when using a commercialized robot assisted laparoscopic such as Da Vinci, surgeons have encountered some problems due to having to depend only on information by visual feedback. To solve this problem, a haptic function is required. In order to realize the haptic teleoperation system, a force feedback and bilateral control system are needed. Previous research showed that the perturbation value estimated by a SPO (Sliding Perturbation Observer) followed a reaction force that loaded on the surgical robot instrument. Thus, in this paper, the force feedback problem of surgical robots is solved through the reaction force estimation method. This paper then introduces the possibility of the haptic function realization of a laparoscopic surgery robot using a bilateral control system. For bilateral control, the master uses an impedance control and the slave uses a SMC (Sliding Mode Control). The experiment results show that a torque and force sensorless teleoperation system can be implemented using a bilateral control structure.

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A micro optical force sensor for force feedback during minimally invasive robotic surgery

Cited by 307 publications

References 2 publications

Overview on Force Sensing Techniques in Robot-assisted Minimally Invasive Laparoscopic Surgery

Overview on Force Sensing Techniques in Robot-assisted Minimally Invasive Laparoscopic Surgery

Incompressible liquid based force sensible silicone retractor attachable to surgical suction instruments

Impedance Model based Bilateral Control for Force reflection of a Laparoscopic Surgery Robot

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