Measurement of force acting on surgical instrument for force-feedback to master robot console

Shimachi, Shigeyuki; Hakozaki, Yoshihide; Tada, Takeshi; Fujiwara, Yasunori

doi:10.1016/s0531-5131(03)00356-x

Cited by 18 publications

(14 citation statements)

References 3 publications

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“…Sensors that measure forces and torques at the incision point of the cannula have been developed in the past [11], [12], [13]. Commercial 6 Degree Of Freedom (DOFs) sensors have been directly integrated at the cannula [12] while a combination of force sensors (one at the cannula and one at the instrument holder) was used to reconstruct 3 DOFs force components at the tool tip by Shimachi et al [11] or along the direction of motion by Willaert et al [13].…”

Section: Introductionmentioning

confidence: 99%

“…Commercial 6 Degree Of Freedom (DOFs) sensors have been directly integrated at the cannula [12] while a combination of force sensors (one at the cannula and one at the instrument holder) was used to reconstruct 3 DOFs force components at the tool tip by Shimachi et al [11] or along the direction of motion by Willaert et al [13]. The objective of these works was to reconstruct the force/torque at the tool tip.…”

Section: Introductionmentioning

confidence: 99%

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Body wall force sensor for simulated minimally invasive surgery: Application to fetal surgery

Javaux

Esteveny

Bouget

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-Surgical interventions are increasingly executed minimal invasively. Surgeons insert instruments through tiny incisions in the body and pivot slender instruments to treat organs or tissue below the surface. While a blessing for patients, surgeons need to pay extra attention to overcome the fulcrum effect, reduced haptic feedback and deal with lost hand-eye coordination. The mental load might make it difficult to pay sufficient attention to the forces that are exerted on the body wall. In delicate procedures such as fetal surgery, this might be problematic as irreparable damage could cause premature delivery. As a first attempt to quantify the interaction forces applied on the patient's body wall, a novel 6 degrees of freedom force sensor was developed for an ex-vivo set up. The performance of the sensor was characterised. User experiments were conducted by 3 clinicians on a set up simulating a fetal surgical intervention. During these simulated interventions, the interaction forces were recorded and analysed when a normal instrument was employed. These results were compared with a session where a flexible instrument under haptic guidance was used. The conducted experiments resulted in interesting insights in the interaction forces and stresses that develop during such difficult surgical intervention. The results also implicated that haptic guidance schemes and the use of flexible instruments rather than rigid ones could have a significant impact on the stresses that occur at the body wall.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Body wall force sensor for simulated minimally invasive surgery: Application to fetal surgery

Javaux

Esteveny

Bouget

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…This approach avoids disturbance by the trocar forces, induced by the fairly rigid human body wall, and is often referred to as the overcoat method. This approach was first presented for MIS in [15] without details on the implementation. Later, variations have been presented for a robot that is directly mounted onto the patient's body [2] and in combination with a fixed trocar support [16].…”

Section: Introductionmentioning

confidence: 99%

“…This paper presents a force measuring manipulator for keyhole surgery that is based on the concepts of the overcoat method [15] and the use of a passive wrist and a fixed trocar support [16]. The paper combines a detailed description of the setup (Section II) and the algorithm for the extracoporeal force measurement system (Section III) with an extended experimental validation (Section IV).…”

Section: Introductionmentioning

confidence: 99%

Design and in vivo validation of a force-measuring manipulator for MIS providing synchronized video, motion and force data

Willaert

Famaey

Verbrugghe

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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This paper describes a force-measuring manipulator for minimally invasive surgery. It employs an extracorporeal force measurement system combined with a passive trocar support to deal with the restrictions of a single insertion point in the body. The first contribution is the detailed description of the design and the involved kinematics of the device and the force measurement system, while the second contribution is an extensive performance evaluation including an in vivo animal experiment. During the latter, endoscopic video images were recorded simultaneously with motion and force information of the instrument tip. Breathing effects, contact with other instruments and nonlinear soft tissue stiffness could be detected by the system, indicating its potential as a MIS manipulator and as an in vivo tissue property measurement tool.

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“…They reported about the preliminary construction of overcoat method, called ''trocar type'' of sensor structure [4]. This paper deals with the basic type of the sensor structure with the theoretical way of canceling the acceleration forces.…”

Section: Introductionmentioning

confidence: 99%

New sensing method of force acting on instrument for laparoscopic robot surgery

Shimachi

Fujiwara

Hakozaki

2004

International Congress Series

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Measurement of force acting on surgical instrument for force-feedback to master robot console

Cited by 18 publications

References 3 publications

Body wall force sensor for simulated minimally invasive surgery: Application to fetal surgery

Body wall force sensor for simulated minimally invasive surgery: Application to fetal surgery

Design and in vivo validation of a force-measuring manipulator for MIS providing synchronized video, motion and force data

New sensing method of force acting on instrument for laparoscopic robot surgery

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