Force Measurement of Blood Vessel Gripping by Hydraulic-driven Forceps

Sasaki, Tohru; Hebisawa, Masao; Mito, Yasuyuki; Dohda, Kuniaki; Kuroda, Satoshi

doi:10.1016/j.procir.2017.04.002

Cited by 2 publications

(1 citation statement)

References 11 publications

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“…There have been numerous studies carried out for measuring and quantifying tool-tissue interaction forces in microsurgery. For example, the semiconductor strain gauges [85,86] , microelectromechanical systems (MEMS)based diffractive optical encoders [87] , fiber optic sensing [88−90] , Poly-vinyli-dene-fluoride (PVDF) force sensing system [91,92] have been used for RAMS. A force measurement system of blood vessel gripping by hydraulicdriven forceps was designed in [93].…”

Section: Other Types Of Sensorsmentioning

confidence: 99%

From Teleoperation to Autonomous Robot-assisted Microsurgery: A Survey

Zhang

Fang

et al. 2022

Mach. Intell. Res.

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Robot-assisted microsurgery (RAMS) has many benefits compared to traditional microsurgery. Microsurgical platforms with advanced control strategies, high-quality micro-imaging modalities and micro-sensing systems are worth developing to further enhance the clinical outcomes of RAMS. Within only a few decades, microsurgical robotics has evolved into a rapidly developing research field with increasing attention all over the world. Despite the appreciated benefits, significant challenges remain to be solved. In this review paper, the emerging concepts and achievements of RAMS will be presented. We introduce the development tendency of RAMS from teleoperation to autonomous systems. We highlight the upcoming new research opportunities that require joint efforts from both clinicians and engineers to pursue further outcomes for RAMS in years to come.

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Section: Other Types Of Sensorsmentioning

confidence: 99%

From Teleoperation to Autonomous Robot-assisted Microsurgery: A Survey

Zhang

Fang

et al. 2022

Mach. Intell. Res.

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Hydraulic Micro Device with Force Sensing for Measurement of Mechanical Characteristics

Sasaki

Fujiwara

Tachikawa

et al. 2020

IJAT

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The medical and bio-engineering fields have been increasingly using information and communication technology. To introduce robots into surgical procedures, data on surgical operations are required. Several studies have tried the creation of data on living tissues for mechanical actions, which makes determining the mechanical characteristics of living tissues vital, but few have been commonly used. Therefore, we previously developed a sensing system that uses a hydraulic-driven micro mechanism to measure the force applied to an object when it is touched. Micro force sensors are necessary for various manipulations requiring careful operation. Unfortunately, the measurement accuracy of sensors tends to reduce with the reduction in sensor size. The proportional output in conventional force sensors, such as piezoelectric sensors, also decreases when the size of the sensor is reduced. However, a micro force sensor using a hydraulic-driven micro mechanism can obtain a large output even when it is small. Our system uses Pascal’s principle to measure small forces acting on the end effector. We propose methods for identifying the mechanical characteristics of certain viscoelastic materials similar to those used in a living organ. A hydraulic-driven micro device pushes an object and measures the reaction force and its displacement. We have used two types of micro devices, micro cylinder and micro bellows. Its stiffness and viscosity coefficient are obtained through calculations using Kelvin-Voigt and Zenner models. Discrete displacement and load data are applied to the estimated model, and the mechanical characteristics of the materials are identified as a minimized value between the estimated value and experimental one. We conducted experiments using the proposed identification methods on viscoelastic materials, and the results indicate that the value provided from the Kelvin-Voigt model was near the truth value.

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Force Measurement of Blood Vessel Gripping by Hydraulic-driven Forceps

Cited by 2 publications

References 11 publications

From Teleoperation to Autonomous Robot-assisted Microsurgery: A Survey

From Teleoperation to Autonomous Robot-assisted Microsurgery: A Survey

Hydraulic Micro Device with Force Sensing for Measurement of Mechanical Characteristics

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