External force estimation and implementation in robotically assisted minimally invasive surgery

Sang, Hongqiang; Yun, Jintian; Monfaredi, Reza; Wilson, Emmanuel; Fooladi, Hadi; Cleary, Kevin

doi:10.1002/rcs.1824

Cited by 45 publications

(24 citation statements)

References 51 publications

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“…For this reason, sensor-less options using force and torque estimation [34] or data-driven vision-based sensing [35] have recently gained traction in the research literature. More complex approaches adopt convex optimisation [36] or screw theory [37] to estimate tool dynamics. While extremely promising and straightforward to implement in commercially available Level-0 robotic platforms, these approaches have yet to be demonstrated outside a research lab environment [35].…”

Section: Tissue Interaction Sensingmentioning

confidence: 99%

Autonomy in Surgical Robotics

Attanasio

Scaglioni

Momi

et al. 2021

Annu. Rev. Control Robot. Auton. Syst.

128

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This review examines the dichotomy between automatic and autonomous behaviors in surgical robots, maps the possible levels of autonomy of these robots, and describes the primary enabling technologies that are driving research in this field. It is organized in five main sections that cover increasing levels of autonomy. At level 0, where the bulk of commercial platforms are, the robot has no decision autonomy. At level 1, the robot can provide cognitive and physical assistance to the surgeon, while at level 2, it can autonomously perform a surgical task. Level 3 comes with conditional autonomy, enabling the robot to plan a task and update planning during execution. Finally, robots at level 4 can plan and execute a sequence of surgical tasks autonomously. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

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Section: Tissue Interaction Sensingmentioning

confidence: 99%

Autonomy in Surgical Robotics

Attanasio

Scaglioni

Momi

et al. 2021

Annu. Rev. Control Robot. Auton. Syst.

128

View full text Add to dashboard Cite

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“…• friction inside the cable-driven tools [128][129][130][131][132][133][134], also between the tool and the trocar [125,135], • the disturbing forces at the trocar and abdominal wall, the disturbing forces on the tool by nearby organs [136], • the small point of contact between the tool and tissue causing low signal to noise ratio, and the long mechanical distance between the point of contact with tissue and the hand of the surgeons [36,136,137].…”

Section: Sensory Augmentation Through Sl/sf Telerobotic Surgerymentioning

confidence: 99%

Review of Advanced Medical Telerobots

et al. 2020

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The advent of telerobotic systems has revolutionized various aspects of the industry and human life. This technology is designed to augment human sensorimotor capabilities to extend them beyond natural competence. Classic examples are space and underwater applications when distance and access are the two major physical barriers to be combated with this technology. In modern examples, telerobotic systems have been used in several clinical applications, including teleoperated surgery and telerehabilitation. In this regard, there has been a significant amount of research and development due to the major benefits in terms of medical outcomes. Recently telerobotic systems are combined with advanced artificial intelligence modules to better share the agency with the operator and open new doors of medical automation. In this review paper, we have provided a comprehensive analysis of the literature considering various topologies of telerobotic systems in the medical domain while shedding light on different levels of autonomy for this technology, starting from direct control, going up to command-tracking autonomous telerobots. Existing challenges, including instrumentation, transparency, autonomy, stochastic communication delays, and stability, in addition to the current direction of research related to benefit in telemedicine and medical automation, and future vision of this technology, are discussed in this review paper.

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“…The methods do not require electrical components to be inserted into the patient's body, since the applied force is estimated using external sensory. We can find examples in the literature based on acoustic reflection, pressure of the probe's medium or even the motor currents of the robot arms [31], [42], [57], [58], [60]. The drawback of this technique in contrast to the direct force sensing is its complexity and signal processing and computation requirements.…”

Section: B Palpation Based On Indirect Force Sensingmentioning

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)

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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.

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External force estimation and implementation in robotically assisted minimally invasive surgery

Abstract: The force estimation method was proposed and implemented and experimental results showed the method worked and was feasible. This method could be used for force sensing in minimally invasive surgical robotics in the future.

Cited by 45 publications

References 51 publications

Autonomy in Surgical Robotics

Autonomy in Surgical Robotics

Review of Advanced Medical Telerobots

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

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