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

Shimachi, Shigeyuki; Fujiwara, Yasunori; Hakozaki, Yoshihide

doi:10.1016/j.ics.2004.03.310

Cited by 23 publications

(5 citation statements)

References 2 publications

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“…As an advantage of such indirect force measurements, contact forces are acquired without compromising the contact surface of the tool. However, the accuracy and precision of the indirect measurement remain questionable due to the influence of friction at the entry point and driving mechanism (Shimachi et al, 2004). Also, forces acting on the tissue are not exactly represented by forces acting on the handle of the instrument (Trejos et al, 2008).…”

Section: Tactile Sensing In Minimally Invasive Surgerymentioning

confidence: 99%

Tactile Sensing for Minimally Invasive Surgery: Conventional Methods and Potential Emerging Tactile Technologies

Othman¹,

Lai²,

Abril³

et al. 2022

Front. Robot. AI

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As opposed to open surgery procedures, minimally invasive surgery (MIS) utilizes small skin incisions to insert a camera and surgical instruments. MIS has numerous advantages such as reduced postoperative pain, shorter hospital stay, faster recovery time, and reduced learning curve for surgical trainees. MIS comprises surgical approaches, including laparoscopic surgery, endoscopic surgery, and robotic-assisted surgery. Despite the advantages that MIS provides to patients and surgeons, it remains limited by the lost sense of touch due to the indirect contact with tissues under operation, especially in robotic-assisted surgery. Surgeons, without haptic feedback, could unintentionally apply excessive forces that may cause tissue damage. Therefore, incorporating tactile sensation into MIS tools has become an interesting research topic. Designing, fabricating, and integrating force sensors onto different locations on the surgical tools are currently under development by several companies and research groups. In this context, electrical force sensing modality, including piezoelectric, resistive, and capacitive sensors, is the most conventionally considered approach to measure the grasping force, manipulation force, torque, and tissue compliance. For instance, piezoelectric sensors exhibit high sensitivity and accuracy, but the drawbacks of thermal sensitivity and the inability to detect static loads constrain their adoption in MIS tools. Optical-based tactile sensing is another conventional approach that facilitates electrically passive force sensing compatible with magnetic resonance imaging. Estimations of applied loadings are calculated from the induced changes in the intensity, wavelength, or phase of light transmitted through optical fibers. Nonetheless, new emerging technologies are also evoking a high potential of contributions to the field of smart surgical tools. The recent development of flexible, highly sensitive tactile microfluidic-based sensors has become an emerging field in tactile sensing, which contributed to wearable electronics and smart-skin applications. Another emerging technology is imaging-based tactile sensing that achieved superior multi-axial force measurements by implementing image sensors with high pixel densities and frame rates to track visual changes on a sensing surface. This article aims to review the literature on MIS tactile sensing technologies in terms of working principles, design requirements, and specifications. Moreover, this work highlights and discusses the promising potential of a few emerging technologies towards establishing low-cost, high-performance MIS force sensing.

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Section: Tactile Sensing In Minimally Invasive Surgerymentioning

confidence: 99%

Tactile Sensing for Minimally Invasive Surgery: Conventional Methods and Potential Emerging Tactile Technologies

Othman¹,

Lai²,

Abril³

et al. 2022

Front. Robot. AI

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show abstract

“…Rosen and Hannaford (2001) developed a sensorized grasper incorporating a six-degree of freedom (DOF) mini sensor (ATI Industrial Automation) and another force sensor on the grasper handle. Other researchers, such as Dubois (2002) and Shimachi et al (2004), have also tried sensing the forces on the handle of the instrument. Bicchi et al (1996) modified minimally invasive surgical tools by adding two strain gauges onto a sensing module and are used to estimate the properties of the manipulated tissue.…”

Section: Passive Measurementmentioning

confidence: 99%

Robot-assisted Tactile Sensing for Minimally Invasive Tumor Localization

Trejos¹,

Jayender²,

Perri³

et al. 2009

The International Journal of Robotics Research

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The 10 mm incisions used in minimally invasive cancer surgery prevent the direct palpation of internal organs, making intraoperative tumor localization difficult. A tactile sensing instrument (TSI), which uses a commercially available sensor to measure distributed pressure profiles along the contacting surface, has been developed to facilitate remote tissue palpation. The objective of this research is to assess the feasibility of using the TSI under robotic control to reliably locate underlying tumors while reducing collateral tissue trauma. The performance of humans and a robot using the TSI to locate tumor phantoms embedded into ex vivo bovine livers is compared. An augmented hybrid impedance control scheme has been implemented on a Mitsubishi PA10-7C to perform the force/position control used in the trials. The results show that using the TSI under robotic control realizes an average 35% decrease in the maximum forces applied and a 50% increase in tumor detection accuracy when compared to manual manipulation of the same instrument. This demonstrates that the detection of tumors using tactile sensing is highly dependent on how consistently the forces on the tactile sensing area are applied, and that robotic assistance can be of great benefit when trying to localize tumors in minimally invasive surgery.

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“…Miniature force sensors placed at the tip of surgical tools have been presented in [1][2][3][4]. However, aspects such as miniaturization, cost, robustness and sterilizability limit their use.…”

Section: Introductionmentioning

confidence: 99%

“…In [7], the tip contact force was estimated based on the pose of the catheter tip by modelling the catheter as a planar elastica. In [8], the magnitude and 1 Department of Mechanical Engineering, KU Leuven, Belgium 2 Core Lab ROB of Flanders Make, Belgium direction of the tip contact force was calculated by a multisection kinematic model based on an Euler-Bernoulli representation. The tip contact force of a steerable catheter was estimated in [9] by studying the change in the catheter shape under different loading scenarios.…”

Section: Introductionmentioning

confidence: 99%

Estimating and Localizing External Forces Applied on Flexible Instruments by Shape Sensing

Qiao

Willems

Borghesan

et al. 2019

2019 19th International Conference on Advanced Robotics (ICAR)

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Force sensing is highly desirable in medical applications showing great potential to reduce tissue damage and enhance manipulation safety. Embedding force sensors in medical devices is however challenging and costly. Provided that the medical device is long, slender and largely compliant, we show in this paper that it is possible to estimate multiple loads along the length of the flexible instrument using a Cosserat-rod model and Fiber Bragg Grating sensors, which allows simultaneous shape and force sensing. We perform experiments that illustrate the feasibility of using this method to locate multiple contact forces along the instrument, and to estimate the magnitudes of the forces that are applied along the length of the instrument. Results show that one-directional force magnitude and location can be estimated with an average error of 6.3% and 5.4 mm (3.0% of rod length), respectively. In the worst case, the error for magnitude and location can go up to 22.6% and 13.9 mm (7.7% of rod length), respectively. For two-directional forces, results show an average error of 9.8% for magnitude and 6.4 mm (3.6% of rod length) for the location. The errors on magnitude and location do not exceed 27.4% and 17.4 mm (9.7% of rod length), respectively.

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

Cited by 23 publications

References 2 publications

Tactile Sensing for Minimally Invasive Surgery: Conventional Methods and Potential Emerging Tactile Technologies

Tactile Sensing for Minimally Invasive Surgery: Conventional Methods and Potential Emerging Tactile Technologies

Robot-assisted Tactile Sensing for Minimally Invasive Tumor Localization

Estimating and Localizing External Forces Applied on Flexible Instruments by Shape Sensing

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