Vision-based estimation of manipulation forces by deep learning of laparoscopic surgical images obtained in a porcine excised kidney experiment
Kimihiko Masui,
Naoto Kume,
Megumi Nakao
et al.
Abstract:In robot-assisted surgery, in which haptics should be absent, surgeons experience haptics-like sensations as “pseudo-haptic feedback”. As surgeons who routinely perform robot-assisted laparoscopic surgery, we wondered if we could make these “pseudo-haptics” explicit to surgeons. Therefore, we created a simulation model that estimates manipulation forces using only visual images in surgery. This study aimed to achieve vision-based estimations of the magnitude of forces during forceps manipulation of organs. We … Show more
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