A predictive model for haptic assistance in robot assisted trocar insertion

Chowriappa, Ashirwad; Wirz, Raúl; Seo, Yong Won; Reddy, A. Adhipathi; Kesavadas, T.; Scott, Peter; Guru, Khurshid A.

doi:10.1109/whc.2013.6548395

Cited by 6 publications

(4 citation statements)

References 21 publications

(28 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The systems employed various operation control strategies by introducing flexible software to perform surgical tasks under HRC. In [31], a prediction from expert demonstration (PED) method with haptic feedback was proposed for the trocar insertion task. By encoding the force, position, and trajectory information from the observations with the GMM method, a GMR algorithm was used to generate the task model based on PED.…”

Section: Applicationsmentioning

confidence: 99%

Combined perception, control, and learning for teleoperation: key technologies, applications, and challenges

Luo

Yang

2020

Cognitive Computation and Systems

View full text Add to dashboard Cite

Teleoperation provides a promising way for human-robot collaboration in the unknown or unstructured environments to perform a cooperative task. It enables humans to complete a task at a remote side and combines both the human's intelligence and the robots' capabilities in a collaborative task. Therefore, it is necessary to conduct cross researches in terms of robotics, artificial intelligence, sensors, and mechatronics. This study covers the state-of-the-arts research in terms of perception, control, and learning. In this review, key technologies about information perception mechanism, control algorithms, human-robot interface, and robot learning strategies for teleoperation are introduced. Then, a comprehensive survey is summarised in representative applications in teleoperation, and the existing challenges and potential directions of the development are discussed.

show abstract

Section: Applicationsmentioning

confidence: 99%

Combined perception, control, and learning for teleoperation: key technologies, applications, and challenges

Luo

Yang

2020

Cognitive Computation and Systems

View full text Add to dashboard Cite

show abstract

“…Operators can do insertion simulation on the platform. And a master-slave assisted robot [10], [11] have been developed by Ashiwad Chowriappa.…”

Section: Introductionmentioning

confidence: 99%

A Novel Device for Safe Trocar Insertion in Laparoscopic Surgery Based on the Insertion Force Characteristics

Sun¹,

Tadano²

2019

IJBBB

View full text Add to dashboard Cite

Overshooting of trocar insertion in laparoscopic surgery has been extensively cited as a major cause of surgical injuries. Besides, the complexity and large insertion force of the current handheld insertion method also increase the risk of overshooting and difficulty for novices or female operators. Hence, we developed this trocar insertion device to make trocar insertion easier and safer. The device is designed easy to handle and trocar-assembling. And we used negative pressure and pneumatic cylinders to lift the abdominal wall and two motors to drive the trocar insertion. In addition, we interpreted the characteristics of insertion force and proposed an algorithm to detect whether it has penetrated out. With this algorithm the device can stop inserting automatically and immediately. The development of this device realized the automation of trocar insertion. It reduced the demand for operators and improved the safety of this procedure.

show abstract

“…To get the visual feedback to remind operators of forcing and stopping the trocar accurately, some operators put the endoscopy into the trocar to create an optical trocar [4][5] as it is shown in Fig 1. To make operators master the key-skill of the trocar insertion procedure, researchers have developed a VR training system for trocar insertion [6][7]. On the other hand, master-slave assisted-robots for perfecting the operation of surgeons have been developed by Ashiwad Chowriappa [8]. However, researches mentioned above did not analyse the force characteristics when trocar inserts abdomen.…”

Section: Introductionmentioning

confidence: 99%

Force Characteristics of Trocar Insertion Abdomen in Laparoscopic Surgery

Sun¹,

Tadano²

2017

World Congress on Electrical Engineering and Computer Systems and Science

View full text Add to dashboard Cite

-Firstly, trocar insertion is an essential step in laparoscopic surgery and the necessary of researching in force characteristics when the trocar inserts abdomens is explained. Secondly, an experimental platform for measuring force when the trocar inserts abdomens is designed. Thirdly, we have developed circuit controlling system to ensure that signal readings are right and motor moves precisely under our control. Then experiments that drives the trocar inserting abdomens and measures force when inserting were conducted. By analysing the force characteristics, conclusions come that the maximal force when the trocar inserts abdomens is about 50N and when the force arrives the biggest peak, the trocar has not penetrated out of abdomens yet. The smaller peak next to the maximum force peak is the signal of penetrating-out. We have made an explanation for the force characteristics mentioned above from aspects of insertion principle and abdomen structure. We believe the conclusion offers references for deep research in trocar insertion abdomen and development of trocar insertion robot in the future.

show abstract

A predictive model for haptic assistance in robot assisted trocar insertion

Cited by 6 publications

References 21 publications

Combined perception, control, and learning for teleoperation: key technologies, applications, and challenges

Combined perception, control, and learning for teleoperation: key technologies, applications, and challenges

A Novel Device for Safe Trocar Insertion in Laparoscopic Surgery Based on the Insertion Force Characteristics

Force Characteristics of Trocar Insertion Abdomen in Laparoscopic Surgery

Contact Info

Product

Resources

About