Force Modeling, Identification, and Feedback Control of Robot-Assisted Needle Insertion: A Survey of the Literature

Abstract

Robot-assisted surgery is of growing interest in the surgical and engineering communities. The use of robots allows surgery to be performed with precision using smaller instruments and incisions, resulting in shorter healing times. However, using current technology, an operator cannot directly feel the operation because the surgeon-instrument and instrument-tissue interaction force feedbacks are lost during needle insertion. Advancements in force feedback and control not only help reduce tissue deformation and needle deflection but also provide the surgeon with better control over the surgical instruments. The goal of this review is to summarize the key components surrounding the force feedback and control during robot-assisted needle insertion. The literature search was conducted during the middle months of 2017 using mainstream academic search engines with a combination of keywords relevant to the field. In total, 166 articles with valuable contents were analyzed and grouped into five related topics. This survey systemically summarizes the state-of-the-art force control technologies for robot-assisted needle insertion, such as force modeling, measurement, the factors that influence the interaction force, parameter identification, and force control algorithms. All studies show force control is still at its initial stage. The influence factors, needle deflection or planning remain open for investigation in future.

Developing a novel force forecasting technique for early prediction of critical events in robotics

“…With this goal, several insertion force models were developed using analytical techniques [25,26]. The high computation efficiency of the analytical techniques make them suitable candidates for online force estimation and control [27]. In most of these techniques, the force data were decomposed into friction, cutting and stiffness force components and each component was modeled independently.…”

A Real-time Ultrasound Rendering with Model-based Tissue Deformation for Needle Insertion

“…Friction force. A wide number of friction models exists (Yang et al, 2018). Following (Okamura et al, 2004), a modified Karnopp model is used:…”

The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft

“…Conventionally, it can be provided by a force or a torque sensor. Alternatively, it can be obtained by the observer-based approach [42,107,[145][146][147][148][149][150][151][152]. The latter requires a precise mechanical design, and, furthermore, it cannot compensate for modeling errors and uncertainties that, in sequence, impairs haptic fidelity.…”

“…The use of haptic interfaces in teleoperation, robotics, and computer technology has been well known for a few decades [26,[34][35][36][37][38]. Recently, new haptic applications have appeared in different areas, such as human assistance systems and medicine [39][40][41][42][43].…”