Feasibility of Remote Landmark Identification for Cricothyrotomy Using Robotic Palpation

Shihora, Neel; Yasin, Rashid; Walsh, Ryan R.; Simaan, Nabil

doi:10.1109/iros51168.2021.9636481

Cited by 2 publications

(1 citation statement)

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“…As a key source of information, force sensing at the tool side will be critically needed along with the evolution of autonomous robotic surgery [7], [10]. In the last few years, achievements have been made on force sensing in single-task procedures such as palpation [11], navigation [12], and grasping [13]. However, few of the tools can realize multi-modal force sensing during tissue manipulation, e.g., sensing the touching (Fig.…”

Section: Introductionmentioning

confidence: 99%

Haptics-Enabled Forceps with Multi-Modal Force Sensing: Towards Task-Autonomous Robotic Surgery

Liu¹,

Zhang²,

Katupitiya³

et al. 2023

Preprint

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Current minimally invasive surgical robots are lacking in force sensing that is robust to temperature and electromagnetic variation while being compatible with micro-sized instruments. This paper presents a multi-axis force sensing module that can be integrated with micro-sized surgical instruments such as biopsy forceps. The proposed miniature sensing module mainly consists of a flexure, a camera, and a target. The deformation of the flexure is obtained by the pose variation of the top-mounted target, which is estimated by the camera with a proposed pose estimation algorithm. Then, the external force is estimated using the flexure's displacement and stiffness matrix. Integrating the sensing module, we further develop a pair of haptics-enabled forceps and realize its multi-modal force sensing, including touching, grasping, and pulling when the forceps manipulate tissues. To minimize the unexpected sliding between the forceps' clips and the tissue, we design a micro-level actuator to drive the forceps and compensate for the motion introduced by the flexure's deformation. Finally, a series of experiments are conducted to verify the feasibility of the proposed sensing module and forceps, including an automatic robotic grasping procedure on ex-vivo tissues. The results indicate the sensing module can estimate external forces accurately, and the haptics-enabled forceps can potentially realize multi-modal force sensing for task-autonomous robotic surgery. A video demonstrating the experiments can be found at https://youtu.be/4UUTT hiFcI.

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