Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot

Shi, Hu; Zhang, Boyang; Mei, Xuesong; Song, Qichun

doi:10.3390/s21227489

Cited by 10 publications

(4 citation statements)

References 16 publications

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“…Force/torque sensors-based intelligence methods are evolving rapidly in the robotics industry and play a vital role in real-time active robotic control research [38]- [40]. The efficiency of these sensors has a direct effect on force control performance.…”

Section: A Ati Force-torque Sensormentioning

confidence: 99%

Real-Time Robot Pose Correction on Curved Surface Employing 6-Axis Force/Torque Sensor

et al. 2022

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Research on robot trajectory correction on a curved surface has seen a surge in the last two decades to deal with issues in many machining processes. Due to the intricacies involved in complex machining, the real-time correction of robot end-effector position and orientation is highly challenging. The existing approaches are either computationally expensive or inadequate for high accuracy in desired trajectory tracking. Hence, this research explores and implements a novel sophisticated approach, barring minor complications, to empower industrial robots to adjust poses in real-time automatically. In contrast with other studies, the proposed technique does not require any prior geometric information of the workpiece, such as a CAD model or a 3D scan. Our proposed technique relies solely on force/torque sensor feedback information obtained from a 6-axis force/torque sensor installed at the end-effector. When the developed tool comes in contact with the curved surface, the force sensor transmits the data to the pose correction algorithm. The pose correction algorithm estimates the adjustment required to make the tool normal to the surface. The effectiveness and feasibility of the proposed scheme were validated through numerous experiments carried out with a 6-DOF industrial robot. The final results of the curved surface trajectory correction demonstrates that the contact-based robot pose correction has significantly improved. The estimated average error on depth (Z-axis), and angles (Rx,Ry) are 0.7 mm, 0.7 • , and 0.9 • , respectively.

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Section: A Ati Force-torque Sensormentioning

confidence: 99%

Real-Time Robot Pose Correction on Curved Surface Employing 6-Axis Force/Torque Sensor

et al. 2022

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“…Through a bilateral control architecture, haptic feedback transmits force data from the robot–patient interactions to the surgeon side to provide a real-time interactive environment between the surgeon and the surgical field [ 17 , 18 , 19 ]. A number of studies examined the effect of haptic feedback on suturing accuracy and performance.…”

Section: Overview Of the Robotic Teleoperation Surgery Approachesmentioning

confidence: 99%

A Force-Feedback Methodology for Teleoperated Suturing Task in Robotic-Assisted Minimally Invasive Surgery

Ehrampoosh

Shirinzadeh

Pinskier

et al. 2022

Sensors

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With robotic-assisted minimally invasive surgery (RAMIS), patients and surgeons benefit from a reduced incision size and dexterous instruments. However, current robotic surgery platforms lack haptic feedback, which is an essential element of safe operation. Moreover, teleportation control challenges make complex surgical tasks like suturing more time-consuming than those that use manual tools. This paper presents a new force-sensing instrument that semi-automates the suturing task and facilitates teleoperated robotic manipulation. In order to generate the ideal needle insertion trajectory and pass the needle through its curvature, the end-effector mechanism has a rotating degree of freedom. Impedance control was used to provide sensory information about needle–tissue interaction forces to the operator using an indirect force estimation approach based on data-based models. The operator’s motion commands were then regulated using a hyperplanar virtual fixture (VF) designed to maintain the desired distance between the end-effector and tissue surface while avoiding unwanted contact. To construct the geometry of the VF, an optoelectronic sensor-based approach was developed. Based on the experimental investigation of the hyperplane VF methodology, improved needle–tissue interaction force, manipulation accuracy, and task completion times were demonstrated. Finally, experimental validation of the trained force estimation models and the perceived interaction forces by the user was conducted using online data, demonstrating the potential of the developed approach in improving task performance.

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“…Shi et al proposed a method of force detection for a surgical robot, where the 3D force of the end-effector was decomposed by using an elastic element with an orthogonal beam structure. Moreover, a machine algorithm was used to learn the relationship between the acting force and the output voltage [ 52 ]. Other researchers also achieved the force sensing of robotics MIS with electromagnetic sensors, but most of the robots integrated with these sensors were hard to miniaturize, due to the rigid body or large diameter of the sensors.…”

Section: Probes For In Vivo Physical Sensingmentioning

confidence: 99%

Progress in Probe-Based Sensing Techniques for In Vivo Diagnosis

et al. 2022

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Advancements in robotic surgery help to improve the endoluminal diagnosis and treatment with minimally invasive or non-invasive intervention in a precise and safe manner. Miniaturized probe-based sensors can be used to obtain information about endoluminal anatomy, and they can be integrated with medical robots to augment the convenience of robotic operations. The tremendous benefit of having this physiological information during the intervention has led to the development of a variety of in vivo sensing technologies over the past decades. In this paper, we review the probe-based sensing techniques for the in vivo physical and biochemical sensing in China in recent years, especially on in vivo force sensing, temperature sensing, optical coherence tomography/photoacoustic/ultrasound imaging, chemical sensing, and biomarker sensing.

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Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot

Cited by 10 publications

References 16 publications

Real-Time Robot Pose Correction on Curved Surface Employing 6-Axis Force/Torque Sensor

Real-Time Robot Pose Correction on Curved Surface Employing 6-Axis Force/Torque Sensor

A Force-Feedback Methodology for Teleoperated Suturing Task in Robotic-Assisted Minimally Invasive Surgery

Progress in Probe-Based Sensing Techniques for In Vivo Diagnosis

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