A Novel Pneumatic Force Sensor for Robot-Assisted Surgery

Gaudeni, Chiara; Meli, Leonardo; Prattichizzo, Domenico

doi:10.1007/978-3-319-93399-3_50

Cited by 9 publications

(9 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This work extends the proof of concept presented in [12], in which we developed a pneumatic force sensor taking advantage of an air-filled balloon. The main idea is presented in Fig.…”

Section: The Pneumatic Sensorsupporting

confidence: 60%

“…Compared to our previous work [12], the model-based approach here presented results to be more general, accurate and reliable. The force-pressure relationship is the result of a mathematical model and it is easy to tune against changes of components or design parameters.…”

Section: Discussionmentioning

confidence: 50%

“…In this paper, we propose a novel model characterizing the sensor's behavior. The main outcome of our first work [12] was that the norm of the contact force and the resultant increase of the pressure inside the balloon were related through a quadratic function experimentally detected. The coefficients within this relation depended on the value of the pressure the balloon had been inflated to.…”

Section: The Pneumatic Sensormentioning

confidence: 95%

“…In this paper, we present a new pneumatic-based method to estimate contact forces between instruments and tissues during robotic surgery. We pursued the idea of using a tiny pneumatic balloon developed in an earlier paper [12], by proposing a more general mathematical model.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A Mathematical Model of the Pneumatic Force Sensor for Robot-assisted Surgery

Gaudeni

Prattichizzo

2019

2019 IEEE World Haptics Conference (WHC)

Self Cite

View full text Add to dashboard Cite

Restoring the sense of touch in robotic surgery is an emerging need several researchers tried to address. In this paper, we focused on the slave side proposing a pneumatic sensor to estimate contact forces occurring during the interaction between surgical instruments and anatomical areas. It consists of a tiny pneumatic balloon, which, after being inflated, appears near the tip of the instrument during the measurement phase only. This paper presents a mathematical method relating the intensity of the contact force to the variation of pressure inside the balloon. The latter was modeled as a spherical elastic membrane, whose behavior during contact was characterized taking into account both the deformation of the membrane and the compression of the contained gas. Geometrical considerations combined with an energetic approach allowed us to compute the force of interest. The effectiveness of our sensing device has been confirmed by experimental results, based on comparison with a high-performance commercial force sensor. Ri Rf ϑ Fig. 1. Working principle and sketch of the pneumatic sensor: undeformed (dashed) and deformed (green) states of the membrane.

show abstract

“…This work extends the proof of concept presented in [12], in which we developed a pneumatic force sensor taking advantage of an air-filled balloon. The main idea is presented in Fig.…”

Section: The Pneumatic Sensorsupporting

confidence: 60%

Section: Discussionmentioning

confidence: 50%

Section: The Pneumatic Sensormentioning

confidence: 95%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Mathematical Model of the Pneumatic Force Sensor for Robot-assisted Surgery

Gaudeni

Prattichizzo

2019

2019 IEEE World Haptics Conference (WHC)

Self Cite

View full text Add to dashboard Cite

show abstract

“…Other samples are introduced in [62] where pneumatic actuation is used to provide tactile feedback to achieve intraoperative localization of an early-stage gastric tumor that cannot be visually detected during laparoscopic surgery, or in [63] where a pneumatic actuated haptic glove featuring silicone-made cavities located at the fingertips and the center of the palm of the user make users perceive soft skins with different shape, stiffness, and homogeneity. On the other end of the teleoperation chain, it can be used also for force sensing like in [64] where a force measurement is performed thanks to the air pressure variation inside a pneumatic balloon in contact with an object.…”

Section: Use In Medical Systemsmentioning

confidence: 99%

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

Senac

Lelevé

Moreau

et al. 2019

MTI

View full text Add to dashboard Cite

Simulators have been traditionally used for centuries during medical gestures training. Nowadays, mechatronic technologies have opened the way to more evolved solutions enabling objective assessment and dedicated pedagogic scenarios. Trainees can now practice in virtual environments representing various kind of patient and body parts including physio-pathologies issues. Gestures, to be mastered, vary according to each medical specialty (e.g., ultrasound probe orientations, or forceps installation during assisted delivery). Hence, medical students need kinesthetic feedback in order to significantly improve their learning capabilities. Gesture simulators require haptic devices with variable stiffness actuators. Existing solutions do not always fit the requirements because of their significant size. Contrary to electric actuators, pneumatic technology is low-cost, available off-the-shelf and offers a better mass–power ratio. However, it presents two main drawbacks: nonlinear dynamics and need for a compressed air supply. During the last decade, we have developed several haptic solutions based on pneumatic actuation (e.g., birth simulator, epidural needle insertion simulator) and, recently, in a joint venture with Prisme laboratory, a pneumatic probe master device for remote ultrasonography. This paper recalls literature scientific approaches on pneumatic actuation developed in the medical context and illustrated with the aforementioned applications to highlight the benefits.

show abstract

Instrumenting Hand-Held Surgical Drills with a Pneumatic Sensing Cover for Haptic Feedback

Gaudeni

Baldi

Achilli

et al. 2020

Lecture Notes in Computer Science

Self Cite

View full text Add to dashboard Cite

Despite the recent achievements in the development of open surgery tools, preserving the haptic capabilities during drilling tasks is still an open issue. In this paper, we propose a novel tool for handheld drills composed of a cover for force sensing and a haptic display for force feedback. A pneumatic device has been developed to estimate the contact force occurring during the interaction between drill bit and bones. A performance comparison with a precise commercial force sensor proved the reliability of the measurements. A haptic ring is in charge of providing cutaneous sensations helping the surgeon in performing the task. The effectiveness of our method has been confirmed by experimental results and supported by statistical analysis.

show abstract

A Novel Pneumatic Force Sensor for Robot-Assisted Surgery

Cited by 9 publications

References 21 publications

A Mathematical Model of the Pneumatic Force Sensor for Robot-assisted Surgery

A Mathematical Model of the Pneumatic Force Sensor for Robot-assisted Surgery

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

Instrumenting Hand-Held Surgical Drills with a Pneumatic Sensing Cover for Haptic Feedback

Contact Info

Product

Resources

About