Force sensing microinstrument for measuring tissue properties and pulse in microsurgery

Menciassi, Arianna; Eisinberg, A.; Carrozza, M.C.; Dario, P.

doi:10.1109/tmech.2003.809153

Cited by 123 publications

(50 citation statements)

References 15 publications

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“…Such piezoelectric positioners can be used in atomic force microscopes for positioning the sample, in scanning tunneling microscopes for positioning the probe [6], lens and mirrors positioners for laser interferometers [7], in cellular manipulation [8], in microsurgery [9], and others.…”

Section: Introductionmentioning

confidence: 99%

Wide dynamic range homodyne interferometry method and its application for piezoactuator displacement measurements

et al. 2013

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Multiactuated piezoelectric flextensional actuators (MAPFAs) is a fast-growing technology in development, with a wide range of applications in precision mechanics and nanotechnology. In turn, optical interferometry is an adequate technique to measure nano/micro-displacements and to characterize these MAPFAs. In this work, an efficient method for homodyne phase detection, based on a well-known Bessel functions recurrence relation, is developed, providing practical applications with a high dynamic range. Fading and electronic noise are taken into account in the analysis. An important advantage of the method is that, for each measurement, only a limited number of frequencies in the magnitude spectrum of the photodetected signal are used, without the need to know the phase spectrum. The dynamic range for phase demodulation is from 0.2 to 100π rad (or 10 nm to 16 μm for displacement, using 632.8 nm wavelength). The upper range can be easily expanded by adapting the electronic system to the signal characteristics. By using this interferometric technique, a new XY nanopositioner MAPFA prototype is tested in terms of linearity, displacement frequency response, and coupling rate.

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Section: Introductionmentioning

confidence: 99%

Wide dynamic range homodyne interferometry method and its application for piezoactuator displacement measurements

et al. 2013

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“…By using a combination of position and rate control, the system requires small operator hand motions to provide low mechanical impedance, high motion resolution, and force feedback over a substantial volume. Later on, Menciassi et al (2003) presented a set of robotic haptic-enabled microinstruments for minimally invasive surgery. At the operating table, a microgripper, instrumented with semiconductor strain gages as force sensors, is in charge of manipulating tissue samples.…”

Section: Atomic Force Microscopymentioning

confidence: 99%

Haptic Feedback for Microrobotics Applications: A Review

et al. 2016

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Microrobotics systems are showing promising results in several applications and scenarios, such as targeted drug delivery and screening, biopsy, environmental control, surgery, and assembly. While most of the systems presented in the literature consider autonomous techniques, there is a growing interest in human-in-the-loop approaches. For reasons of responsibility, safety, and public acceptance, it is in fact beneficial to provide a human with intuitive and effective means for directly controlling these microrobotic systems. In this respect, haptic feedback is widely believed to be a valuable tool in human-in-the-loop teleoperation systems. This article presents a review of the literature on haptic feedback systems for microrobotics, categorizing it according to the type of haptic technology employed. In particular, we considered both tethered and untethered systems, including applications of micropositioning, microassembly, minimally invasive surgery, delivery of objects, micromanipulation, and injection of cells. One of the main challenges for an effective implementation is stability control. In fact, the high scaling factors introduced to match variables in the macro and the micro worlds may introduce instabilities. Another challenge lies in the measurement of position and force signals in the remote environment. The integration of microsized sensors may significantly increase the complexity and cost of tools fabrication. To overcome the lack of force-sensing, vision seems a promising solution. Finally, although the literature on haptic feedback for untethered microrobotics is still quite small, we foreseen a great development of this field of research, thanks to its flexible applications in biomedical engineering scenarios.

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“…For example, Fischer et al integrated strain gauges on the jaws of a surgical grasper to measure 2-DOF bending forces and axial forces [4]; Menciassi and Payne applied strain gauges on the jaws of microgrippers and forceps for measuring grasping forces and tissue properties in microsurgery [5,6]. Hammond et al printed strain gauges on a surgical forceps to measure pinch force [7]; Gafford et al used alternative manufacturing methods to integrate strain gauges into grippers for pinch force measurement [8].…”

Section: Introductionmentioning

confidence: 99%

Estimating Tool–Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool

Zhao

Nelson

2016

Journal of Mechanisms and Robotics

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Robot-assisted minimally invasive surgery (MIS) has gained popularity due to its high dexterity and reduced invasiveness to the patient; however, due to the loss of direct touch of the surgical site, surgeons may be prone to exert larger forces and cause tissue damage. To quantify tool-tissue interaction forces, researchers have tried to attach different kinds of sensors on the surgical tools. This sensor attachment generally makes the tools bulky and/or unduly expensive and may hinder the normal function of the tools; it is also unlikely that these sensors can survive harsh sterilization processes. This paper investigates an alternative method by estimating tool-tissue interaction forces using driving motors' current, and validates this sensorless force estimation method on a 3-degree-offreedom (DOF) robotic surgical grasper prototype. The results show that the performance of this method is acceptable with regard to latency and accuracy. With this tool-tissue interaction force estimation method, it is possible to implement force feedback on existing robotic surgical systems without any sensors. This may allow a haptic surgical robot which is compatible with existing sterilization methods and surgical procedures, so that the surgeon can obtain tool-tissue interaction forces in real time, thereby increasing surgical efficiency and safety.

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Force sensing microinstrument for measuring tissue properties and pulse in microsurgery

Cited by 123 publications

References 15 publications

Wide dynamic range homodyne interferometry method and its application for piezoactuator displacement measurements

Wide dynamic range homodyne interferometry method and its application for piezoactuator displacement measurements

Haptic Feedback for Microrobotics Applications: A Review

Estimating Tool–Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool

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