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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Autores principales: Abeywardena, Sajeeva, Yuan, Qiaodi, Tzemanaki, Antonia, Psomopoulou, Efi, Droukas, Leonidas, Melhuish, Chris, Dogramadzi, Sanja
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2019
Materias:
Robotics and AI
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805956/
https://www.ncbi.nlm.nih.gov/pubmed/33501071
http://dx.doi.org/10.3389/frobt.2019.00056
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author Abeywardena, Sajeeva
Yuan, Qiaodi
Tzemanaki, Antonia
Psomopoulou, Efi
Droukas, Leonidas
Melhuish, Chris
Dogramadzi, Sanja
author_facet Abeywardena, Sajeeva
Yuan, Qiaodi
Tzemanaki, Antonia
Psomopoulou, Efi
Droukas, Leonidas
Melhuish, Chris
Dogramadzi, Sanja
author_sort Abeywardena, Sajeeva
collection PubMed
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.
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spelling pubmed-78059562021-01-25 Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks Abeywardena, Sajeeva Yuan, Qiaodi Tzemanaki, Antonia Psomopoulou, Efi Droukas, Leonidas Melhuish, Chris Dogramadzi, Sanja Front Robot AI Robotics and AI 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. Frontiers Media S.A. 2019-07-16 /pmc/articles/PMC7805956/ /pubmed/33501071 http://dx.doi.org/10.3389/frobt.2019.00056 Text en Copyright © 2019 Abeywardena, Yuan, Tzemanaki, Psomopoulou, Droukas, Melhuish and Dogramadzi. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Abeywardena, Sajeeva
Yuan, Qiaodi
Tzemanaki, Antonia
Psomopoulou, Efi
Droukas, Leonidas
Melhuish, Chris
Dogramadzi, Sanja
Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks
title 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_short 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
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805956/
https://www.ncbi.nlm.nih.gov/pubmed/33501071
http://dx.doi.org/10.3389/frobt.2019.00056
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