Design of a 3-axial force/torque sensor for arthroscopy force sensing

Cui, Ze; Zhengkang, Han; Pan, Hongwei; Shao, Yan-Ming; Zhu, Danjie

doi:10.1109/icma.2011.5985664

Cited by 9 publications

(3 citation statements)

References 3 publications

(3 reference statements)

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“…In order to implement tactile sensing for this type of procedure, researchers have developed a range of sensing devices [4][5][6]. In particular, attention is paid to develop probing devices, to scan the surface of soft tissue and to identify the presence of malignant or benign formations [7][8][9]. Traditional open surgery allows direct access to organs, and therefore the possibility to palpate an organ.…”

Section: Introductionmentioning

confidence: 99%

Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues

Konstantinova

Mehra

et al. 2014

IEEE Trans. Biomed. Eng.

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Abstract-Improving the effectiveness of artificial tactile sensors for soft tissue examination and tumor localization is a pressing need in robot-assisted minimally invasive surgery. Despite the availability of tactile probes, guidelines for optimal examination behaviors that best exploit soft tissue properties are not available as yet. Simulations on soft-tissue palpation show that particular stress-velocity patterns of probing lead to constructive dynamic interactions between the probe and the tissue to localize hard nodules. However, there has been no methodical validation of such probing behavioral hypotheses using human participants so far. In this study, we use simulation studies to establish open hypotheses on the interaction and influence of relevant behavioral palpation variables, such as finger velocity and trajectory, force exerted by fingers on the accuracy of detection of embedded nodules. We test them by analyzing palpation strategies used by humans to detect hard nodules inside silicone phantoms and ex-vivo porcine organs. Our findings allow us, for the first time, to derive palpation behavior guidelines suitable for the design of controllers of palpation robots.

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Section: Introductionmentioning

confidence: 99%

Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues

Konstantinova

Mehra

et al. 2014

IEEE Trans. Biomed. Eng.

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“…In order to obtain a high degree of accuracy, the cross-sectional area of the probe should be as small as possible without damaging the tissue. The most common are force and torque-based sensors, a typical application is the use of strain gauges to form multidimensional sensors, researchers have designed a new triple-torque sensor that accurately reflects the values of force and torque between the tissue and the arthroscope during surgical procedures that are applied to the joint cavity through an endoscope [6]. Another indentation contact device works based on fiber optics, where light intensity indicates force feedback from the tissue.…”

Section: Indentation-based Contact Devices (Palpation)mentioning

confidence: 99%

Application of tactile sensing in human-computer interaction in robot-assisted surgery and medical fields

Chen

2023

TNS

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Robot-assisted Minimally Invasive Surgery (RMIS) is a revolutionary breakthrough in the field of surgery in 21st-century clinical medicine, and in recent years it has become the standard of care in Western medicine. It makes highly accurate medical operations possible based on the advantages of traditional minimally invasive surgery, such as reducing patient trauma and accelerating post-operative healing. However, the most advanced robotic-assisted surgical systems available on the market, as exemplified by the da Vinci system, are still not equipped with tactile receptors. In recent years, scientists and engineers have come up with different techniques and ideas, including various forms of tactile sensors, to improve the quality of the process. In this paper, the sensor devices that can be used for RMIS are classified into six different types based on their structural characteristics, and typical examples of them are listed. For some of the sensing structures that are only in the theoretical stage, inferences and explanations are given based on references. And the application directions are summarized as tactile diagnosis and operator sensing. Research in the last decade in both areas of sensing technology is summarized and outlined respectively.

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“…The advantage of such method is relative flexibility of the construction and therefore the possibility to design multidimensional sensors. An example of an indentation probe, based on strain gauges can be found in [52] (Fig. 2), where a three-dimensional force and torque sensor was developed for arthroscopic surgery.…”

Section: ) Transduction Principlesmentioning

confidence: 99%

Implementation of Tactile Sensing for Palpation in Robot-Assisted Minimally Invasive Surgery: A Review

et al. 2014

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Robot-assisted Minimally Invasive Surgery (RMIS) made it possible to perform a number of medical manipulations with reduced patient trauma and better accuracy. Various devices, including tactile sensors, have been developed in recent years to enhance the quality of this procedure. The objective of this paper is to review the latest advancements and challenges in the development of tactile sensing devices designed for surgical applications. In particular the focus is on palpation and probing devices that can be potentially used in RMIS. In addition, we explore the aspects that should be taken into account when designing tactile sensors for RMIS, incorporating biological inspiration of tactile sensing, features of manual palpation, requirements of RMIS. We provide an overview of recommendations for the development of tactile sensing devices, especially in the context of RMIS.

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Design of a 3-axial force/torque sensor for arthroscopy force sensing

Cited by 9 publications

References 3 publications

Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues

Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues

Application of tactile sensing in human-computer interaction in robot-assisted surgery and medical fields

Implementation of Tactile Sensing for Palpation in Robot-Assisted Minimally Invasive Surgery: A Review

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