Haptic interaction in robot‐assisted endoscopic surgery: a sensorized end‐effector

Tavakoli, Mahdi; Patel, Rajni V.; Moallem, M.

doi:10.1002/rcs.16

Cited by 116 publications

(68 citation statements)

References 30 publications

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“…Measurement for each of these interactions is made possible by one of the strain gauges shown in Figs. 3c-f. Tavakoli et al [26] provide more information about this end-effector.…”

Section: Sensorized Surgical End-effector (Slave)mentioning

confidence: 97%

Methods and mechanisms for contact feedback in a robot-assisted minimally invasive environment

et al. 2006

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Providing a surgeon with information regarding contacts made between instruments and tissue during robot-assisted interventions can improve task efficiency and reliability. In this report, different methods for feedback of such information to the surgeon are discussed. It is hypothesized that various methods of contact feedback have the potential to enhance performance in a robot-assisted minimally invasive environment. To verify the hypothesis, novel mechanisms needed for incorporating contact feedback were designed, including a surgeon-robot interface with full force feedback capabilities and a surgical end-effector with full force sensing capabilities, that are suitable for minimally invasive applications. These two mechanisms were used to form a robotic "master-slave" test bed for studying the effect of contact feedback on the system and user performance. Using the master-slave system, experiments for surgical tasks involving soft tissue palpation were conducted. The performance of the master-slave system was validated in terms of criteria that assess the accurate transmission of task-related information to the surgeon, which is critical in the context of soft tissue surgical applications. Moreover, using a set of experiments involving human subjects, the performance of several users in carrying out the task was compared among different methods of contact feedback.

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“…Measurement for each of these interactions is made possible by one of the strain gauges shown in Figs. 3c-f. Tavakoli et al [26] provide more information about this end-effector.…”

Section: Sensorized Surgical End-effector (Slave)mentioning

confidence: 97%

Methods and mechanisms for contact feedback in a robot-assisted minimally invasive environment

et al. 2006

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“…Resistive strain gauge technology has been utilized either in the form of a modular sensor [2,3] or attached onto the instrument trocar [4][5][6][7]. These arrangements only measure interaction and bending forces on the trocar and do not measure grasping and cutting forces.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Strain Transfer to FBG’s for Sensorized Telerobotic End-Effector Applications

Callaghan¹,

McGrath²,

Rajan³

et al. 2009

Advances in Robotics Research

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Sensorized instruments which cater for the measurement of interaction forces during surgical procedures are not available on current commercial Minimally Invasive Robotic Surgical (MIRS) systems. This paper investigates the effectiveness of advanced optical sensing technology (Fiber Bragg Grating) as surgical end effector strain/force sensors. The effects of adhesive bonding layer thickness and length are specifically addressed owing to their importance for effective strain transfer and ensuring compactness of the resulting sensing arrangement. The strain transfer characteristics of the compound sensing arrangement are evaluated by the examination of shear transfer through the fiber coating and adhesive layers. Detailed analysis of the sensing scheme is facilitated through the use of FEA. Validation of the resulting models is achieved through experimentation carried out on an application-specific evaluation platform. Results show that strain values from an FBG are comparable to that of an electrical strain gauge sensor.

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“…Due to the problems posed by the incision size constraint in minimally invasive surgery, strain gauge sensors are integrated into the end effector to provide a non-invasive, efficient way of measuring interactions with tissue; Figure 3b shows the gauge used for measuring twist moments applied to the tip during suturing. For more details about this sensorized surgical tool, see [12].…”

Section: A Sensorized Surgical Toolmentioning

confidence: 99%

Robotic suturing forces in the presence of haptic feedback and sensory substitution

Tavakoli¹,

Patel²,

Moallem³

Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.

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-There has been some interest in recent years on how information about interactions happening between surgical instruments and tissue during robot-assisted surgery could improve the efficiency and reliability of a surgical task. In this paper, it is hypothesized that various modes of sensory feedback have the potential to enhance performance in robotassisted surgery in terms of the amount of applied forces. User performance during telemanipulated suturing is compared for cases where force feedback is replaced or complemented by visual representation of the force levels. In addition to confirming the above hypothesis, the results indicate a tradeoff between the magnitudes of applied forces and the time required to complete the task.

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Haptic interaction in robot‐assisted endoscopic surgery: a sensorized end‐effector

Cited by 116 publications

References 30 publications

Methods and mechanisms for contact feedback in a robot-assisted minimally invasive environment

Methods and mechanisms for contact feedback in a robot-assisted minimally invasive environment

Analysis of Strain Transfer to FBG’s for Sensorized Telerobotic End-Effector Applications

Robotic suturing forces in the presence of haptic feedback and sensory substitution

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