Development of an inexpensive tri-axial force sensor for minimally invasive surgery

Lu, Li; Yu, Byron M.; Yang, Chen; Vagdargi, Prasad; Srivatsan, Rangaprasad Arun; Choset, Howie

doi:10.1109/iros.2017.8202253

Cited by 22 publications

(24 citation statements)

References 28 publications

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“…Some common drawbacks with many of the existing devices are: difficulty to sterilize, high cost , delicate components and lack of flexibility of form factor. Recently, our group has developed a miniature force sensor that uses an array of thin-film force-sensitive resistors (FSR) with embedded signal processing circuits [3]. The FSR sensor is light weight, inexpensive, robust and has a flexible form factor.…”

Section: A Force Sensing For Surgical Applicationsmentioning

confidence: 99%

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A surgical system for automatic registration, stiffness mapping and dynamic image overlay

Zevallos

Srivatsan

Salman

et al. 2018

2018 International Symposium on Medical Robotics (ISMR)

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In this paper we develop a surgical system using the da Vinci research kit (dVRK) that is capable of autonomously searching for tumors and dynamically displaying the tumor location using augmented reality. Such a system has the potential to quickly reveal the location and shape of tumors and visually overlay that information to reduce the cognitive overload of the surgeon. We believe that our approach is one of the first to incorporate state-of-the-art methods in registration, force sensing and tumor localization into a unified surgical system. First, the preoperative model is registered to the intra-operative scene using a Bingham distribution-based filtering approach. An active level set estimation is then used to find the location and the shape of the tumors. We use a recently developed miniature force sensor to perform the palpation. The estimated stiffness map is then dynamically overlaid onto the registered preoperative model of the organ. We demonstrate the efficacy of our system by performing experiments on phantom prostate models with embedded stiff inclusions.

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Section: A Force Sensing For Surgical Applicationsmentioning

confidence: 99%

“…We adopted a miniaturized Tri-axial sensor developed in [3] onto the needle driver tool for the dVRK, to provide contact force measurements (see Fig. 1).…”

Section: Probing and Force Sensingmentioning

confidence: 99%

A surgical system for automatic registration, stiffness mapping and dynamic image overlay

Zevallos

Srivatsan

Salman

et al. 2018

2018 International Symposium on Medical Robotics (ISMR)

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“…Complex usage and limited measurement capacity also make it difficult to use them with limited time and cost. Some studies have suggested methods for measuring torque at relatively low cost [22][23][24]. Especially for medical purposes, various studies on disposable torque sensors that can be discarded are being actively pursued to avoid the risk of infection [25,26].…”

Section: Introductionmentioning

confidence: 99%

Development and Application of Motor-Equipped Reaction Torque Sensor with Adjustable Measurement Range and Sensitivity

Suh

Lee

2020

Applied Sciences

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Various high-performance force/torque sensors have been developed for the purpose of advancing automation systems. However, the demand for simple torque measurement of rotating shafts continues to exist, and expensive multi-axis sensors need not be wasted here. In this paper we propose a simple motor-equipped single-axis reaction torque sensor to measure the applied torque continuously using a load cell. The proposed sensor has long lever and base linkages, and the adjustable moment arm consequently enables adjusting measurement range and sensitivity by repositioning the assembled load cell on the two linkages. This paper shows the design of the proposed torque sensor, and it is evaluated by experiments for various applied torque and lever length. Moreover, the sensor is applied to an existing example: a commercial balanced-arm lamp with and without its balancing spring. The proposed torque sensor can continuously and successfully measure the applied torque, and it will be utilized in various industries and laboratories without much money.

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“…When performing minimally invasive surgery (MIS), often there is a loss of haptic understanding of the anatomy. In order to restore the lost information, several works in literature have focused on developing miniature tactile and force sensors [1]- [6].…”

Section: Introductionmentioning

confidence: 99%

“…where the constrained parameter space Z con ⊂ Z is the set of parameters that satisfy the boundary conditions and constraints in Eq. (6). We then employ the cross entropy (CE) method to optimize the parameters of the trajectory as described in Section II-C.…”

mentioning

confidence: 99%

Trajectory-Optimized Sensing for Active Search of Tissue Abnormalities in Robotic Surgery

Salman

Ayvali

Srivatsan

et al. 2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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In this work, we develop an approach for guiding robots to automatically localize and find the shapes of tumors and other stiff inclusions present in the anatomy. Our approach uses Gaussian processes to model the stiffness distribution and active learning to direct the palpation path of the robot. The palpation paths are chosen such that they maximize an acquisition function provided by an active learning algorithm. Our approach provides the flexibility to avoid obstacles in the robot's path, incorporate uncertainties in robot position and sensor measurements, include prior information about location of stiff inclusions while respecting the robot-kinematics. To the best of our knowledge this is the first work in literature that considers all the above conditions while localizing tumors. The proposed framework is evaluated via simulation and experimentation on three different robot platforms: 6-DoF industrial arm, da Vinci Research Kit (dVRK), and the Insertable Robotic Effector Platform (IREP). Results show that our approach can accurately estimate the locations and boundaries of the stiff inclusions while reducing exploration time.

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Development of an inexpensive tri-axial force sensor for minimally invasive surgery

Cited by 22 publications

References 28 publications

A surgical system for automatic registration, stiffness mapping and dynamic image overlay

A surgical system for automatic registration, stiffness mapping and dynamic image overlay

Development and Application of Motor-Equipped Reaction Torque Sensor with Adjustable Measurement Range and Sensitivity

Trajectory-Optimized Sensing for Active Search of Tissue Abnormalities in Robotic Surgery

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