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
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spelling doaj-02db63e1e4394e74b37bfd1e59b2e6aa2020-11-24T23:57:12ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442019-07-01610.3389/frobt.2019.00056457392Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural NetworksSajeeva AbeywardenaQiaodi YuanAntonia TzemanakiEfi PsomopoulouLeonidas DroukasChris MelhuishSanja DogramadziA 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 the force interaction. Offline and online testing is conducted to assess the feasibility of the developed algorithm. Results showed that the developed method has promise in allowing online estimation of tool-tissue force and could thus enable haptic feedback in robotic surgery to be provided.https://www.frontiersin.org/article/10.3389/frobt.2019.00056/fullsensor-less sensingneural networksminimally invasive surgeryhaptic feedbackforce estimation
collection DOAJ
language English
format Article
sources DOAJ
author Sajeeva Abeywardena
Qiaodi Yuan
Antonia Tzemanaki
Efi Psomopoulou
Leonidas Droukas
Chris Melhuish
Sanja Dogramadzi
spellingShingle Sajeeva Abeywardena
Qiaodi Yuan
Antonia Tzemanaki
Efi Psomopoulou
Leonidas Droukas
Chris Melhuish
Sanja Dogramadzi
Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks
Frontiers in Robotics and AI
sensor-less sensing
neural networks
minimally invasive surgery
haptic feedback
force estimation
author_facet Sajeeva Abeywardena
Qiaodi Yuan
Antonia Tzemanaki
Efi Psomopoulou
Leonidas Droukas
Chris Melhuish
Sanja Dogramadzi
author_sort Sajeeva Abeywardena
title Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks
title_short Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks
title_full Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks
title_fullStr Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks
title_full_unstemmed Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks
title_sort estimation of tool-tissue forces in robot-assisted minimally invasive surgery using neural networks
publisher Frontiers Media S.A.
series Frontiers in Robotics and AI
issn 2296-9144
publishDate 2019-07-01
description 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 the force interaction. Offline and online testing is conducted to assess the feasibility of the developed algorithm. Results showed that the developed method has promise in allowing online estimation of tool-tissue force and could thus enable haptic feedback in robotic surgery to be provided.
topic sensor-less sensing
neural networks
minimally invasive surgery
haptic feedback
force estimation
url https://www.frontiersin.org/article/10.3389/frobt.2019.00056/full
work_keys_str_mv AT sajeevaabeywardena estimationoftooltissueforcesinrobotassistedminimallyinvasivesurgeryusingneuralnetworks
AT qiaodiyuan estimationoftooltissueforcesinrobotassistedminimallyinvasivesurgeryusingneuralnetworks
AT antoniatzemanaki estimationoftooltissueforcesinrobotassistedminimallyinvasivesurgeryusingneuralnetworks
AT efipsomopoulou estimationoftooltissueforcesinrobotassistedminimallyinvasivesurgeryusingneuralnetworks
AT leonidasdroukas estimationoftooltissueforcesinrobotassistedminimallyinvasivesurgeryusingneuralnetworks
AT chrismelhuish estimationoftooltissueforcesinrobotassistedminimallyinvasivesurgeryusingneuralnetworks
AT sanjadogramadzi estimationoftooltissueforcesinrobotassistedminimallyinvasivesurgeryusingneuralnetworks
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