Force sensing of multiple‐DOF cable‐driven instruments for minimally invasive robotic surgery

Force sensing for robotic surgery is limited by the size of the instrument, friction and sterilization requirements. This paper presents a force‐sensing instrument to avoid these restrictions.

[1]  N. Zemiti,et al.  Mechatronic Design of a New Robot for Force Control in Minimally Invasive Surgery , 2007, IEEE/ASME Transactions on Mechatronics.

[2]  J Jung,et al.  Robust contact force estimation for robot manipulators in three-dimensional space , 2006 .

[3]  S. Sokhanvar,et al.  A multifunctional PVDF-based tactile sensor for minimally invasive surgery , 2007 .

[4]  G.S. Fischer,et al.  Ischemia and Force Sensing Surgical Instruments for Augmenting Available Surgeon Information , 2006, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..

[5]  R.V. Patel,et al.  Design of a sensorized instrument for skills assessment and training in minimally invasive surgery , 2008, 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics.

[6]  J. Dankelman,et al.  Haptics in minimally invasive surgery – a review , 2008, Minimally invasive therapy & allied technologies : MITAT : official journal of the Society for Minimally Invasive Therapy.

[7]  Jan Peirs,et al.  A micro optical force sensor for force feedback during minimally invasive robotic surgery , 2003 .

[8]  Arif Kazi,et al.  Operator Performance in Surgical Telemanipulation , 2001, Presence: Teleoperators & Virtual Environments.

[9]  Christopher R. Wagner,et al.  The role of force feedback in surgery: analysis of blunt dissection , 2002, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002.

[10]  H. Sim,et al.  Equipment and technology in surgical robotics , 2006, World Journal of Urology.

[11]  Russell H. Taylor,et al.  Development and preliminary data of novel integrated optical micro-force sensing tools for retinal microsurgery , 2009, 2009 IEEE International Conference on Robotics and Automation.

[12]  Kotaro Tadano,et al.  Development of 4-DOFs forceps with force sensing using pneumatic servo system , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[13]  Xiaofei Wang,et al.  Control design and implementation of a novel master–slave surgery robot system, MicroHand A , 2011, The international journal of medical robotics + computer assisted surgery : MRCAS.

[14]  Khek Yu Ho,et al.  Enhancement of a master-slave robotic system for natural orifice transluminal endoscopic surgery. , 2011, Annals of the Academy of Medicine, Singapore.

[15]  Shigeyuki Shimachi,et al.  Measurement of force acting on surgical instrument for force-feedback to master robot console , 2003, CARS.

[16]  Jürgen Schmidhuber,et al.  A System for Robotic Heart Surgery that Learns to Tie Knots Using Recurrent Neural Networks , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[17]  Kaspar Althoefer,et al.  Miniaturized triaxial optical fiber force sensor for MRI-Guided minimally invasive surgery , 2010, 2010 IEEE International Conference on Robotics and Automation.

[18]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[19]  S. Warisawa,et al.  Development of High Dexterity Minimally Invasive Surgical System with Augmented Force Feedback Capability , 2004, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..

[20]  Bernhard Kübler,et al.  Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[21]  A. Castellanos,et al.  Evaluation of a laparoscopic grasper with force feedback. , 2003, Surgical endoscopy.

[22]  M. Mack,et al.  Computer-assisted telemanipulation: an enabling technology for endoscopic coronary artery bypass. , 1998, The Annals of thoracic surgery.

[23]  S Duke Herrell,et al.  Robotic-assisted laparoscopic prostatectomy: do minimally invasive approaches offer significant advantages? , 2005, Journal of clinical oncology : official journal of the American Society of Clinical Oncology.

[24]  Russell H. Taylor,et al.  A miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation , 2003, IEEE Trans. Robotics Autom..

[25]  J.P. Desai,et al.  Modeling and control of the Mitsubishi PA-10 robot arm harmonic drive system , 2005, IEEE/ASME Transactions on Mechatronics.

[26]  Anders Robertsson,et al.  Force controlled robotic assembly without a force sensor , 2012, 2012 IEEE International Conference on Robotics and Automation.

[27]  Chi Yen Kim,et al.  Measuring method for the torque control of instrument in surgical robot , 2009, 2009 ICCAS-SICE.

[28]  Kaspar Althoefer,et al.  Rolling Indentation Probe for Tissue Abnormality Identification During Minimally Invasive Surgery , 2011, IEEE Transactions on Robotics.

[29]  Jaydev P. Desai,et al.  Design, Development, and Testing of an Automated Laparoscopic Grasper with 3-D Force Measurement Capability , 2004, ISMS.

[30]  T. Ortmaier,et al.  The touch and feel in minimally invasive surgery , 2005, IEEE International Workshop on Haptic Audio Visual Environments and their Applications.

[31]  Xiaofei Wang,et al.  Kinematics analysis of the coupled tendon-driven robot based on the product-of-exponentials formula , 2013 .