Displacement-based Model for Estimation of Contact Force Between RFA Catheter and Atrial Tissue with ex-vivo Validation

Jolaei, Mohammad; Hooshiar, Amir; Dargahi, Javad

doi:10.1109/rose.2019.8790415

Cited by 16 publications

(2 citation statements)

References 27 publications

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“…For indirect force sensing, the measuring elements are usually arrayed on the joint actuation unit, instrument shaft, and articulated joint ( Puangmali et al, 2008 ). ( Jolaei et al, 2019 ) developed a particle-swarm optimization method based on the displacement to calculate the contact force between radio-frequency ablation (RFA) catheter and atrial tissue, and the accuracy of the module was 91.5%. However, the friction at joints and backlash in drive mechanisms could lead to measurement error in this process ( Zhao and Nelson, 2015 ).…”

Section: Introductionmentioning

confidence: 99%

Optical-Waveguide Based Tactile Sensing for Surgical Instruments of Minimally Invasive Surgery

Cao

et al. 2022

Front. Robot. AI

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In recent years, with the rapid development of minimally invasive surgery (MIS), the lack of force sensing associated with the surgical instrument used in MIS has been increasingly a desirable technology amongst clinicians. However, it is still an open technical challenge to date since most existing tactile sensing principles are not suitable to small 3-dimensional (3D) curved surfaces often seen in surgical instruments, and as a result multi-point force detection cannot be realized. In this paper, a novel optical waveguide-based sensor was proposed to deal with the above research gap. A sensor prototype for curved surfaces resembling the surface of dissection forceps was developed and experimentally evaluated. The static parameters and dynamic response characteristics of the sensor were measured. Results show that the static hysteresis error is less than 3%, the resolution is 0.026 N, and the repeatability is less than 1.5%. Under a frequency of 12.5 Hz, the sensor could quickly measure the variation of the force signal. We demonstrated that this small and high-precision sensitive sensor design is promising to be used for creating multiple-point tactile sensing for minimally invasive surgical instruments with 3D surfaces.

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Section: Introductionmentioning

confidence: 99%

Optical-Waveguide Based Tactile Sensing for Surgical Instruments of Minimally Invasive Surgery

Cao

et al. 2022

Front. Robot. AI

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“…Studies have revealed that force feedback helps the surgeon to apply a just-enough force to grasp organs and avoid tissue damage. 5 The measured force can be relayed to a visual or tactile display system, e.g., [6][7][8][9][10] to be replicated for the surgeon.…”

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confidence: 99%

Image-Based Optical-Fiber Force Sensor for Minimally Invasive Surgery with ex-vivo Validation

Bandari

Dargahi

Packirisamy

2020

J. Electrochem. Soc.

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During minimally invasive surgery, surgeons insert specially-designed instruments through a small incision into the patient’s body. Despite all the advantages of this procedure, surgeons do not have the natural force feedback in the surgery. Force feedback helps the surgeon to apply an appropriate force to avoid tissue damage. As a solution, this study was aimed at the ex-vivo validation of a proposed image-based optical force sensor with light intensity modulation principle. The sensor was to be integrated with conventional minimally invasive instruments and was working based on variable bending radius sensing principle. To this end, the sensor was integrated on the jaw of a custom-designed minimally invasive grasper and its performance was assessed ex-vivo. Furthermore, the light intensity measurement of this study was performed utilizing an image-based technique to avoid the complexities of using photodetectors. The sensor was calibrated using a rate-dependent learning-based support-vector-regression model, which showed an adjusted−R 2 of 94%. The results of the ex-vivo test on a freshly excised bovine muscle tissue showed fair agreement between sensor measurements and ground truth. Therefore, the proposed sensor was concluded as applicable for minimally invasive surgeries by comparing the minimum performance requirements of force sensors for surgical applications.

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A Study of Force Feedback Master-Slave Teleoperation System Based on Biological Tissue Interaction

Cui

Bao

et al. 2021

Communications in Computer and Information Science

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Displacement-based Model for Estimation of Contact Force Between RFA Catheter and Atrial Tissue with ex-vivo Validation

Cited by 16 publications

References 27 publications

Optical-Waveguide Based Tactile Sensing for Surgical Instruments of Minimally Invasive Surgery

Optical-Waveguide Based Tactile Sensing for Surgical Instruments of Minimally Invasive Surgery

Image-Based Optical-Fiber Force Sensor for Minimally Invasive Surgery with ex-vivo Validation

A Study of Force Feedback Master-Slave Teleoperation System Based on Biological Tissue Interaction

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