An actuated force feedback-enabled laparoscopic instrument for robotic-assisted surgery

Dalvand, Mohsen Moradi; Shirinzadeh, Bijan; Shamdani, Amir Hossein; Smith, Julian Anderson; Zhong, Yongmin

doi:10.1002/rcs.1503

Cited by 48 publications

(13 citation statements)

References 48 publications

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“…Employing a similar method, Moradi et al . incorporated three independent half‐bridges of strain gauges into the tube and at the base of the instrument to measure the lateral tool–tissue force interactions, as well as the normal grasping force. The actuating mechanism again had two DoFs, one for the pivotal motion of the tip jaws and the other for rotation of the tube.…”

Section: Introductionmentioning

confidence: 99%

A modular force‐controlled robotic instrument for minimally invasive surgery – efficacy for being used in autonomous grasping against a variable pull force

Khadem

Behzadipour

Mirbagheri

et al. 2016

Robotics Computer Surgery

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Section: Introductionmentioning

confidence: 99%

A modular force‐controlled robotic instrument for minimally invasive surgery – efficacy for being used in autonomous grasping against a variable pull force

Khadem

Behzadipour

Mirbagheri

et al. 2016

Robotics Computer Surgery

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“…The F/T sensor can measure manipulation forces at the instrument's tip. Dalvand et al proposed an actuated modular force feedback-enabled laparoscopic instrument for robotic-assisted surgery [69] . The instrument is able to measure tip-tissue lateral interaction forces as well as normal grasping forces.…”

Section: Biomedical and Biomechanics Applicationsmentioning

confidence: 99%

Multi-dimensional force sensor for haptic interaction: a review

Song

2019

Virtual Reality & Intelligent Hardware

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Haptic interaction plays an important role in the virtual reality technology, which let a person not only view the 3D virtual environment but also realistically touch the virtual environment. As a key part of haptic interaction, force feedback has become an essential function for the haptic interaction. Therefore, multi-dimensional force sensors are widely used in the fields of virtual reality and augmented reality. In this paper, some conventional multi-dimensional force sensors based on different measurement principles, such as resistive, capacitive, piezoelectric, are briefly introduced. Then the mechanical structures of the elastic body of multi-dimensional force sensors are reviewed. It is obvious that the performance of the multi-dimensional force sensor is mainly dependent upon the mechanical structure of elastic body. Furthermore, the calibration process of the force sensor is analyzed, and problems in calibration are discussed. Interdimensional coupling error is one of the main factors affecting the measurement precision of the multi-dimensional force sensors. Therefore, reducing or even eliminating dimensional coupling error becomes a fundamental requirement in the design of multi-dimensional force sensors, and the decoupling state-of-art of the multi-dimensional force sensors are introduced in this paper. At last, the trends and current challenges of multi-dimensional force sensing technology are proposed.

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“…For example, position exchange is an algorithm that estimates the forces based on the error between the desired position of the robot and the actual (current) position of the robot (Siciliano and Khatib, 2016). Other studies suggested more advanced haptic feedback estimation algorithms for RAMIS (Anooshahpour et al, 2014;Dalvand et al, 2014;Li and Hannaford, 2017;Rivero et al, 2017), as well as advanced algorithms for learning the dynamics of robots that can be modified to cable-driven robots (Rubio, 2012;García-Sánchez et al, 2018;He and Dong, 2018;Rubio et al, 2018;Yen et al, 2018). Each one of the force feedback algorithms has a trade-off between system stability and transparency along with other limitations.…”

Section: Introductionmentioning

confidence: 99%

Surgeon-Centered Analysis of Robot-Assisted Needle Driving Under Different Force Feedback Conditions

2020

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Robotic assisted minimally invasive surgery (RAMIS) systems present many advantages to the surgeon and patient over open and standard laparoscopic surgery. However, haptic feedback, which is crucial for the success of many surgical procedures, is still an open challenge in RAMIS. Understanding the way that haptic feedback affects performance and learning can be useful in the development of haptic feedback algorithms and teleoperation control systems. In this study, we examined the performance and learning of inexperienced participants under different haptic feedback conditions in a task of surgical needle driving via a soft homogeneous deformable object-an artificial tissue. We designed an experimental setup to characterize their movement trajectories and the forces that they applied on the artificial tissue. Participants first performed the task in an open condition, with a standard surgical needle holder, followed by teleoperation in one of three feedback conditions: (1) no haptic feedback, (2) haptic feedback based on position exchange, and (3) haptic feedback based on direct recording from a force sensor, and then again with the open needle holder. To quantify the effect of different force feedback conditions on the quality of needle driving, we developed novel metrics that assess the kinematics of needle driving and the tissue interaction forces, and we combined our novel metrics with classical metrics. We analyzed the final teleoperated performance in each condition, the improvement during teleoperation, and the aftereffect of teleoperation on the performance when using the open needle driver. We found that there is no significant difference in the final performance and in the aftereffect between the 3 conditions. Only the two conditions with force feedback presented statistically significant improvement during teleoperation in several of the metrics, but when we compared directly between the improvements in the three different feedback conditions none of the effects reached statistical significance. We discuss possible explanations for the relative similarity in performance. We conclude that we developed several new metrics for the quality of surgical needle driving, but even with these detailed metrics, the advantage of state of the art force feedback methods to tasks that require interaction with homogeneous soft tissue is questionable.

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An actuated force feedback-enabled laparoscopic instrument for robotic-assisted surgery

Abstract: The proposed instrument can improve the quality of palpation and characterization of soft tissues of varying stiffness by restoring sense of touch in robotic assisted minimally invasive surgery operations.

Cited by 48 publications

References 48 publications

A modular force‐controlled robotic instrument for minimally invasive surgery – efficacy for being used in autonomous grasping against a variable pull force

A modular force‐controlled robotic instrument for minimally invasive surgery – efficacy for being used in autonomous grasping against a variable pull force

Multi-dimensional force sensor for haptic interaction: a review

Surgeon-Centered Analysis of Robot-Assisted Needle Driving Under Different Force Feedback Conditions

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