Slip Sensing for Intelligent, Improved Grasping and Retraction in Robot-Assisted Surgery

The Role of Tissue Slip Feedback in Robot-Assisted Surgery

“…[7] did not indicate that this would negatively impact the slip sensor's performance. Finally, we wished to compare the new data with our previous ex vivo results [7] to determine whether the device under in vivo conditions has comparable sensitivity. With these considerations in mind, we tested mesentery, artery, fat, and bowel.…”

“…3 Device Characterization 3.1 Purpose and Methods. This characterization study sought to validate the tissue slip sensor [7] on living, perfused porcine tissues. We anticipated that the convective effects of blood flow (either in highly perfused tissue like mesentery or in a blood vessel with strong flow) may affect the performance of the device.…”

“…In addition, we tested fat because its thermal conductivity is quite low when compared with other biological tissues (approximately 0.2 W/mK versus 0.5 W/mK [8]), although the model-based thermal prediction presented in Ref. [7] did not indicate that this would negatively impact the slip sensor's performance. Finally, we wished to compare the new data with our previous ex vivo results [7] to determine whether the device under in vivo conditions has comparable sensitivity.…”

“…All measurements were taken using the sensor mounted on the modified Small Graptor TM da Vinci instrument and the software described in Ref. [7] to obtain a slip signal…”

“…6 compares _ S 2 mag 2 to our ex vivo results from Ref. [7]. While the past slip threshold was 5 standard deviations above the mean, the threshold here was set at 1.3 Â 10 À3 [ C/s] 2 , the value which participants chose most often during the user study in Sec.…”