Miniaturized Optical Force Sensor for Minimally Invasive Surgery With Learning-Based Nonlinear Calibration

Bandari, Naghmeh; Dargahi, Javad; Packirisamy, Muthukumaran

doi:10.1109/jsen.2019.2959269

Cited by 39 publications

(34 citation statements)

References 58 publications

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“…Although the majority of the current literature has used a linear uni-or multi-variable regression calibration schema, new non-linear technique is emerging. Some of the recent developments have adopted more complex phenomena or structures such as variable bending radius (VBR) intensity modulation [13], [14] and viscoelastic structures [75] to achieve more precision and less hysteresis. Such phenomena or structures are intrinsically non-linear, thus need non-linear regression models.…”

Section: Discussionmentioning

confidence: 99%

“…However, a secondary hysteresis might occur due to the viscoelastic properties of such a structure. Another possibility would be to compensate for the hysteresis through proper nonlinear calibration [13], [27]. A summary of the state-of-the-art piezoresistive tactile sensors postulated for MIS are mentioned in Table 1.…”

Section: ) Piezoresistive Tactile Sensorsmentioning

confidence: 99%

“…However, it made the sensor structure bulky and was a limitation for the miniaturization. To cope with this limitation, Bandari et al [13], [27] introduced a new sensing principle based on a variable bending radius (VBR).…”

Section: ) Bending Loss Principle When An Optical Fiber Is Bentmentioning

confidence: 99%

“…By integrating the dP(s) over the length of the fiber, the power-loss was obtained as a function of the radius of curvature function, r(s), as (13).…”

Section: ) Bending Loss Principle When An Optical Fiber Is Bentmentioning

confidence: 99%

“…The downside of LIM-based sensors is that the miniaturization is still a critical issue which limits their scalability. This limitation largely affects the resolution and range of measurement [13], [14].…”

Section: Introductionmentioning

confidence: 99%

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Tactile Sensors for Minimally Invasive Surgery: A Review of the State-of-the-Art, Applications, and Perspectives

2020

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Minimally invasive surgery has been one of the most significant evolutions in medicine. In this approach, the surgeon inserts specially-designed instruments through a small incision on the patient's skin into the body cavities, abdomen, veins or, arteries and performs the surgery on organs. As a major limitation, surgeons lose their natural tactile perception due to indirect touch on the organs. Since the loss of tactile perception compromises the ability of surgeons in tissue distinction and maneuvers, researchers have proposed different tactile sensors. This review is to provide researchers with a literature map for the state-of-the-art of tactile sensors in minimally invasive surgery, e.g. in robotic, laparoscopic, palpation, biopsy, heart ablation, and valvuloplasty. In this regard, the pertinent literature from the year 2000 on sensing principles, design requirements, and specifications were reviewed in this study. The survey showed that size, range, resolution, variation, electrical passivity, and magnetic-resonance-compatibility were the most critical specification to study for tactile sensors. Based on the results, some of the requirements, e.g., magnetic-resonance-compatibility and electrical passivity are of less generality and more applicationdependent; however, size, resolution, and range specifications differ for various applications and are of utmost importance.

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Section: Discussionmentioning

confidence: 99%

Section: ) Piezoresistive Tactile Sensorsmentioning

confidence: 99%

Section: ) Bending Loss Principle When An Optical Fiber Is Bentmentioning

confidence: 99%

“…By integrating the dP(s) over the length of the fiber, the power-loss was obtained as a function of the radius of curvature function, r(s), as (13).…”

Section: ) Bending Loss Principle When An Optical Fiber Is Bentmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Tactile Sensors for Minimally Invasive Surgery: A Review of the State-of-the-Art, Applications, and Perspectives

2020

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A Highly Integrated 3D MEMS Force Sensing Module With Variable Sensitivity for Robotic‐Assisted Minimally Invasive Surgery

Hou

Wang

et al. 2023

Adv Funct Materials

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In robotic‐assisted minimally invasive surgery (RMIS), non‐sentient surgical instruments make it impossible for surgeons to perceive operational force during the procedure. To facilitate surgeons with force telepresence during surgery, a highly integrated MEMS‐based piezoresistive 3D force sensing module, which is composed of a MEMS‐based piezoresistive sensor chip, an encapsulation cap with miniature pyramids, and a top elastic layer, is demonstrated. This innovative combined construction allows for rapid replacement of elastic layers with different thicknesses and different Young's modulus, so as to realize an adjustable sensitivity and measurement range for different surgeries. By replacing the elastic layer, the same amount of change in resistance can be achieved for external force of 3 and 10 N in the Z‐axis; the sensitivity in X‐ and Y‐axes can be increased by a maximum of eight and seven times, respectively. Meanwhile, miniature size enables it to be integrated into various surgical instruments’ tip. Experimental demonstrations involving palpation simulated nodule detection of kidney, ex vivo puncture, and threading forces estimation of tissue‐mimicking are conducted to validate the effectiveness of adjusting sensitivity and range. This sensing module is potentially a promising solution for low‐cost and versatility to surgical instruments, which can facilitate unification of force‐sensing/intelligent surgical instruments.

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An introductory review of robotically assisted surgical systems

Cepolina

Razzoli

2022

Robotics Computer Surgery

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Purpose:The scope of the work is to present the state of the art of robotically assisted surgical systems and to give a general idea about how technology can help today and tomorrow robotic surgery. The road to innovation passes through research and on field trials; for this reason, not only commercial surgery robots, but also innovative prototype robots, proposed by the Academic world, are presented.Design/methodology/approach: Following a short introduction, robotically assisted surgery systems are introduced discussing their architectures and main peculiarities. A further section is dedicated to the key enabling technologies that will make possible to improve current systems and that will lead to a new generation of surgical robotic systems able to meet the patient's needs and facilitate the surgeon's task. Finally, brief concluding comments are given. Findings:The idea of using robots for surgery was born many years ago and in a short time a market demand was created. Today the market is very dynamic, and several new products are updated and created for the execution of both traditional and new procedures. The article provides a guide for the reader who has an interest in this area.Originality/value: This paper provides an insight into the commercial robotic surgical systems and a look on research prototypes from academic and industrial worlds.

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Miniaturized Optical Force Sensor for Minimally Invasive Surgery With Learning-Based Nonlinear Calibration

Cited by 39 publications

References 58 publications

Tactile Sensors for Minimally Invasive Surgery: A Review of the State-of-the-Art, Applications, and Perspectives

Tactile Sensors for Minimally Invasive Surgery: A Review of the State-of-the-Art, Applications, and Perspectives

A Highly Integrated 3D MEMS Force Sensing Module With Variable Sensitivity for Robotic‐Assisted Minimally Invasive Surgery

An introductory review of robotically assisted surgical systems

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