Miniature tri-axial force sensor for feedback in minimally invasive surgery

Baki, Peter; Székely, Gábor; Kósa, Gábor

doi:10.1109/biorob.2012.6290770

Cited by 20 publications

(5 citation statements)

References 9 publications

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“…The force required to insert the cannula behind the eye's equator was dynamically measured. The insertion force curve was acquired using a Transmetra KD 24S pressure gauge between a handpiece and blunt triport cannula (13). Maximum insertion force values were extracted from this curve.…”

Section: Methodsmentioning

confidence: 99%

Thiel cadaver eye as a training model for sub-Tenon blocks: a feasibility study

Lersch,

Schnidrig,

Boemke

et al. 2024

Preprint

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Background: Regional anesthesia education, especially for ocular procedures, necessitates reliable surgical training models. While cadaveric models offer anatomical fidelity, conventional embalming methods may compromise tissue integrity. We aimed to assess the effectiveness of Thiel cadavers for training in sub-Tenon blocks by evaluating ocular tissues and measuring insertion forces. Methods: Experimental design, using twenty eyes from ten Thiel cadaver heads. These cadavers were specifically prepared to test the administration of sub-Tenon blocks. The research was conducted in a controlled laboratory setting appropriate for handling cadaveric materials and conducting precise measurements. Each cadaver eye underwent an initial ultrasound examination, and its axial length was noted. An intravitreal injection of heptastarch solution followed, to re-establish the eye's sphericity. After this volume injection, the axial length and intraocular pressure were measured again. Mock sub-Tenon blocks were administered in 2 separate quadrants of the eye, with insertion forces measured using a pressure gauge. Main outcome measurements were macroscopic assessment of the ocular tissue layers and the insertion forces required for the sub-Tenon blocks. Results: Four of twenty eyes (20%) retained near-natural sphericity, with the remaining requiring volume injection to approximate physiological shape and pressure. The conjunctiva and Tenon’s layer were intact, and correct cannula placement was achieved in all cases. The average maximum cannula insertion force was 2.92 Newtons. Conclusion: These findings suggest that Thiel cadavers are a promising model for training in sub-Tenon blocks, despite the challenge of often desiccated and involuted eyes.

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Section: Methodsmentioning

confidence: 99%

Thiel cadaver eye as a training model for sub-Tenon blocks: a feasibility study

Lersch,

Schnidrig,

Boemke

et al. 2024

Preprint

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show abstract

“…FF is important for many types of surgical manipulations, especially in microsurgery when performing delicate manipulations with thin living structures, for instance, as in assisted reproductive technology. Forces applied in in vivo experiments with soft tissue and minimally invasive surgeries can vary between 0 and 2.5 N [10,11], including, in some neurosurgical tasks, forces smaller than 0.3 N [12].…”

Section: Introductionmentioning

confidence: 99%

What the Mind Can Comprehend from a Single Touch

Coe,

Evreinov,

Ziat

et al. 2024

MTI

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This paper investigates the versatility of force feedback (FF) technology in enhancing user interfaces across a spectrum of applications. We delve into the human finger pad’s sensitivity to FF stimuli, which is critical to the development of intuitive and responsive controls in sectors such as medicine, where precision is paramount, and entertainment, where immersive experiences are sought. The study presents a case study in the automotive domain, where FF technology was implemented to simulate mechanical button presses, reducing the JND FF levels that were between 0.04 N and 0.054 N to the JND levels of 0.254 and 0.298 when using a linear force feedback scale and those that were 0.028 N and 0.033 N to the JND levels of 0.074 and 0.164 when using a logarithmic force scale. The results demonstrate the technology’s efficacy and potential for widespread adoption in various industries, underscoring its significance in the evolution of haptic feedback systems.

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“…In an effort to provide miniature robotic manipulators with force feedback, researchers mainly investigated two methodologies: 1) design and manufacturing of miniature sensors for minimally invasive surgery (Baki et al, 2012; Seibold et al, 2005; Valdastri et al, 2006); 2) algorithms for intrinsic force sensing (Rucker and Webster III, 2011; Wei and Simaan, 2012; Xu and Simaan, 2010b) Although the first methodology provides a direct measure of the force at the tip, its wide use is limited by cost, robustness, the increasing demand of magnetic resonance imaging (MRI) compatible surgical instruments, sterilizability and miniaturization. On the other hand, the second methodology views the entire robot as both a multi-axis force sensor and a dexterous end-effector.…”

Section: Introductionmentioning

confidence: 99%

Hybrid motion/force control of multi-backbone continuum robots

Bajo

Simaan

2015

The International Journal of Robotics Research

141

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The recent growth of surgical applications exploiting continuum robots demands for new control paradigms that ensure safety by controlling interaction forces of tele-operated end-effectors. In this paper, we present the modeling, sensing and control of multi-backbone continuum robots in a unified framework for hybrid motion/force control. Multi-backbone continuum robots allow to estimate forces and torques at the operational point by monitoring loads along their actuation lines without the need for a dedicated transducer at the operational point. This capability is indeed crucial in emerging fields such as robotic surgery where cost and strict sterilization guidelines prevent the adoption of a dedicated sensor to provide force feedback from the sterile field. To advance further the force sensing capabilities of multi-backbone continuum robots, we present a new framework for hybrid motion and force control of continuum robots with intrinsic force sensing capabilities. The framework is based on a kinetostatic modeling of the multi-backbone continuum robot with, a simplified model for online estimate of the manipulator's compliance, and a new strategy for merging force and motion control laws in the configuration space of the manipulator. Experimental results show the ability to sense and regulate forces at the operational point and evaluate the framework for shape exploration and stiffness imaging in flexible environments.

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Miniature tri-axial force sensor for feedback in minimally invasive surgery

Cited by 20 publications

References 9 publications

Thiel cadaver eye as a training model for sub-Tenon blocks: a feasibility study

Thiel cadaver eye as a training model for sub-Tenon blocks: a feasibility study

What the Mind Can Comprehend from a Single Touch

Hybrid motion/force control of multi-backbone continuum robots

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