Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks

Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks

A new algorithm is proposed to estimate the tool-tissue force interaction in robot-assisted minimally invasive surgery which does not require the use of external force sensing. The proposed method utilizes the current of the motors of the surgical instrument and neural network methods to estimate th...

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Bibliographic Details
Main Authors: Sajeeva Abeywardena, Qiaodi Yuan, Antonia Tzemanaki, Efi Psomopoulou, Leonidas Droukas, Chris Melhuish, Sanja Dogramadzi
Format: Article
Language:English
Published: Frontiers Media S.A. 2019-07-01
Series:Frontiers in Robotics and AI
Subjects:
sensor-less sensing
neural networks
minimally invasive surgery
haptic feedback
force estimation
Online Access:https://www.frontiersin.org/article/10.3389/frobt.2019.00056/full

Internet

https://www.frontiersin.org/article/10.3389/frobt.2019.00056/full

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