Evaluation of Torque Measurement Surrogates as Applied to Grip Torque and Jaw Angle Estimation of Robotic Surgical Tools

O’Neill, J. J.; Stephens, Trevor K.; Kowalewski, Timothy M.

doi:10.1109/lra.2018.2849862

Cited by 15 publications

(8 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The Da Vinci RST, EndoWrist, can reach grip forces of up to 20 N [35] with a mean grip force of 15 N [36]. However, a maximum grip force of 4 N and 10 N has been suggested to avoid tissue damage [37] and break sutures [38].…”

Section: ) Manufacturingmentioning

confidence: 99%

OpenRST: An Open Platform for Customizable 3D Printed Cable-Driven Robotic Surgical Tools

et al. 2023

View full text Add to dashboard Cite

Robot-assisted minimally invasive surgery (RMIS) has been shown to be effective in improving surgeon capabilities, providing magnified 3D vision, highly dexterous surgical tools, and intuitive human-robot interfaces for high-precision tool motion control. Robotic surgical tools (RST) are a critical component that defines the performance of an RMIS system. Current RSTs still represent a high cost, with few commercially available options, which limits general access and research on RMIS. We aim to take advantage of recent progress in biocompatible 3D printing and contribute to the development of RMIS technologies, presenting an open platform for low-cost, biocompatible, and customizable RSTs. The proposed design concept consists of a 3-DOF end-effector with a decoupled wrist mechanism, a tool interface module, and a tool drive unit. We validated our end-effector design using Finite Element Analysis (FEA) to confirm that stress generated by high grip forces is maintained below the material yield stress. Validation experiments showed that the proposed RST could provide up to 10N grip forces and up to 3N pulling forces. The proposed control framework exhibited a mean absolute positioning tracking error of approximately 0.1 rad. Finally, we also demonstrated the use of the proposed RST in two surgical training tasks: pick-andplace and stitching. The designs and software control framework are open-access and freely available for customization and fast development at https://github.com/jcolan/OpenRST.

show abstract

Section: ) Manufacturingmentioning

confidence: 99%

OpenRST: An Open Platform for Customizable 3D Printed Cable-Driven Robotic Surgical Tools

et al. 2023

View full text Add to dashboard Cite

show abstract

“…Thus, there are always trade-offs between the sensor's structural rigidity, resolution, sensitivity, and range (Puangmali et al, 2012). The grip force can reach up to 20 N in daVinci instruments during needle handling or knottying O'Neill et al, 2018); however, pinch forces as large as 4 N can cause damage to delicate tissue (Abiri et al, 2019;Hong and Jo, 2012). The maximum allowable suture pull force is 4-6 N (Dai et al, 2017;Spiers et al, 2015).…”

Section: Dofs Range Resolution Accuracy Bandwidth and Sampling Ratementioning

confidence: 99%

“…This limits their effectiveness in realtime applications (Anooshahpour et al, 2014;Li et al, 2016). Dynamic modeling is particularly difficult in instruments with coupled DoFs (O'Neill et al, 2018;Xin et al, 2017;Zhao and Nelson, 2015). Lee et al (2015) showed that for the same input force by the surgeon, the grip force of the daVinci EndoWrist grasper can vary up to 3.4 times depending on its posture.…”

mentioning

confidence: 99%

Force sensing in robot-assisted keyhole endoscopy: A systematic survey

Hosseinabadi

Salcudean

2021

The International Journal of Robotics Research

View full text Add to dashboard Cite

Instrument–tissue interaction forces in minimally invasive surgery (MIS) provide valuable information that can be used to provide haptic perception, monitor tissue trauma, develop training guidelines, and evaluate the skill level of novice and expert surgeons. Force and tactile sensing is lost in many robot-assisted surgery (RAS) systems. Therefore, many researchers have focused on recovering this information through sensing systems and estimation algorithms. This article provides a comprehensive systematic review of the current force sensing research aimed at RAS and, more generally, keyhole endoscopy, in which instruments enter the body through small incisions. Articles published between January 2011 and May 2020 are considered, following the Preferred Reporting Items for Systematic reviews and Meta-Analyses (PRISMA) guidelines. The literature search resulted in 110 papers on different force estimation algorithms and sensing technologies, sensor design specifications, and fabrication techniques.

show abstract

“…Moreover, there are a number of methods to display fine tactile information, e.g., air flow, vibration or deformation of the skin [14], [21]- [25]. Displaying the force applied by the jaws of the grippers has also a number of advantages, fastening tissue manipulation, using the minimal force required [26]- [30].…”

Section: B Technical Aspectsmentioning

confidence: 99%

Recent Advances in Robot-Assisted Surgery: Soft Tissue Contact Identification

Nagy

Haidegger

2019

2019 IEEE 13th International Symposium on Applied Computational Intelligence and Informatics (SACI)

View full text Add to dashboard Cite

Robot-Assisted MinimallyInvasive Surgery (RAMIS) is becoming standard-of-care in western medicine. RAMIS offers better patient outcome compared to traditional open surgery, however, the surgeons' ability to identify the tissues with the sense of touch is missing from most robotic systems. Regarding haptic feedback, the most promising diagnostic technique is probably palpation; a physical contact examination method through which information can be gathered about the underlying structures by gently pressing with the fingers. In open surgery, palpation is widely used to identify blood vessels, tendons or even tumors; and the knowledge on the exact location of such elements is often crucial with respect to the outcome of the intervention. This paper presents a review of the actual research directions in the field of palpation in RAMIS.

show abstract

Evaluation of Torque Measurement Surrogates as Applied to Grip Torque and Jaw Angle Estimation of Robotic Surgical Tools

Cited by 15 publications

References 14 publications

OpenRST: An Open Platform for Customizable 3D Printed Cable-Driven Robotic Surgical Tools

OpenRST: An Open Platform for Customizable 3D Printed Cable-Driven Robotic Surgical Tools

Force sensing in robot-assisted keyhole endoscopy: A systematic survey

Recent Advances in Robot-Assisted Surgery: Soft Tissue Contact Identification

Contact Info

Product

Resources

About