Vision-Based Suture Tensile Force Estimation in Robotic Surgery

Jung, Wonjo; Kwak, Kyung-Soo; Lim, Soo-Chul

doi:10.3390/s21010110

Cited by 24 publications

(7 citation statements)

References 42 publications

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“…Restoration of three-dimensional vision may be important to compensate for loss of force feedback, with experienced surgeons able to feel a pseudo-tactile sensation [ 41 , 42 ]. Vision-based approaches to predict force can also use surgical tool information, such as the tool-tip trajectory, velocity, and grasper status [ 43 ]. Combining information arising from different sensory modalities is essential to interact effectively with the environment.…”

Section: Visual Feedbackmentioning

confidence: 99%

Visualisation ergonomics and robotic surgery

Wong

Crowe

2023

J Robotic Surg

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Stereopsis may be an advantage of robotic surgery. Perceived robotic ergonomic advantages in visualisation include better exposure, three-dimensional vision, surgeon camera control, and line of sight screen location. Other ergonomic factors relating to visualisation include stereo-acuity, vergence–accommodation mismatch, visual–perception mismatch, visual–vestibular mismatch, visuospatial ability, visual fatigue, and visual feedback to compensate for lack of haptic feedback. Visual fatigue symptoms may be related to dry eye or accommodative/binocular vision stress. Digital eye strain can be measured by questionnaires and objective tests. Management options include treatment of dry eye, correction of refractive error, and management of accommodation and vergence anomalies. Experienced robotic surgeons can use visual cues like tissue deformation and surgical tool information as surrogates for haptic feedback.

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Section: Visual Feedbackmentioning

confidence: 99%

Visualisation ergonomics and robotic surgery

Wong

Crowe

2023

J Robotic Surg

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“…In general, in IMIS, two or three long and hard tools are introduced into the inflatable abdomen via a small incision (≈10-15 mm in diameter), and used to conduct surgical tasks with the help of a rigid laparoscope to obtain endoscopic vision. [150] For instance, a flexible endoscope with a variety of microtools at the tip is introduced via the anus, vagina or mouth and then perforates the inner wall of the organ. [151] However, these systems usually lack tactile feedback and cannot perceive and quantify the interaction between themselves and soft organs.…”

Section: Interventional Medical Devicesmentioning

confidence: 99%

Wearable, Implantable, and Interventional Medical Devices Based on Smart Electronic Skins

Wang

Jiang

Shen

2021

Adv Materials Technologies

112

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Recent advances in soft, flexible, and stretchable sensors have offered a good opportunity to design various types of wearable flexible medical devices for achievement of continuous health monitoring, preventive medicine and robot feedback and control. The integration of biofunctionability with electronic skin is undoubtedly an attractive prospect in the sense that the successful medical device requires good biocompatibility, sensing capability, and high degrees of mechanical flexibility. This work summarizes the last developments in electronic skin for next‐generation medical devices that can simultaneously detect a variety of physiological information of the human body. The key properties of e‐skin that must be realized for their versatile use in medical applications are discussed in detail. Next, the paper outlines the overall applications of these sensors in wearable medicine, implantable medicine, and interventional medicine, and emphasizes how these devices monitor human health status and may be expected to replace traditional clinical tools. Finally, the challenges and future research opportunities in the field of wearable health monitoring are proposed.

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“…Unfortunately, sensorizing MIS or RAMIS instruments is still very challenging due to the small dimensions or sterilization requirements, and thus, the usage of force-based metrics is not prevalent in skill assessment or in the evaluation of automation. However, currently, there are several solutions to measure or estimate forces and torques on the shaft or the tip of the instruments [ 67 , 68 ], the phantoms, or even to measure the applied grasping force [ 69 , 70 ]. Using such devices, the metrics of the force applied, e.g., grasp maximum , grasp integral , cartesian maximum , or cartesian integral could be included to the validation of surgical subtask automation.…”

Section: Performance Metricsmentioning

confidence: 99%

Performance and Capability Assessment in Surgical Subtask Automation

Nagy

Haidegger

2022

Sensors

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Robot-Assisted Minimally Invasive Surgery (RAMIS) has reshaped the standard clinical practice during the past two decades. Many believe that the next big step in the advancement of RAMIS will be partial autonomy, which may reduce the fatigue and the cognitive load on the surgeon by performing the monotonous, time-consuming subtasks of the surgical procedure autonomously. Although serious research efforts are paid to this area worldwide, standard evaluation methods, metrics, or benchmarking techniques are still not formed. This article aims to fill the void in the research domain of surgical subtask automation by proposing standard methodologies for performance evaluation. For that purpose, a novel characterization model is presented for surgical automation. The current metrics for performance evaluation and comparison are overviewed and analyzed, and a workflow model is presented that can help researchers to identify and apply their choice of metrics. Existing systems and setups that serve or could serve as benchmarks are also introduced and the need for standard benchmarks in the field is articulated. Finally, the matter of Human–Machine Interface (HMI) quality, robustness, and the related legal and ethical issues are presented.

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Vision-Based Suture Tensile Force Estimation in Robotic Surgery

Cited by 24 publications

References 42 publications

Visualisation ergonomics and robotic surgery

Visualisation ergonomics and robotic surgery

Wearable, Implantable, and Interventional Medical Devices Based on Smart Electronic Skins

Performance and Capability Assessment in Surgical Subtask Automation

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