External force estimation and implementation in robotically assisted minimally invasive surgery

Robotically assisted minimally invasive surgery can offer many benefits over open surgery and laparoscopic minimally invasive surgery. However, currently, there is no force sensing and force feedback.

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

[2]  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.

[3]  Gianluca Palli,et al.  Tendon-based transmission systems for robotic devices: Models and control algorithms , 2009, 2009 IEEE International Conference on Robotics and Automation.

[4]  Erkan Zergeroglu,et al.  Nonlinear control of tendon driven robot manipulators: Elimination of actuator side position measurements , 2015, 2015 54th IEEE Conference on Decision and Control (CDC).

[5]  Il Hong Suh,et al.  Disturbance observer based force control of robot manipulator without force sensor , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[6]  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..

[7]  Gianluca Palli,et al.  Modeling, Identification, and Control of Tendon-Based Actuation Systems , 2012, IEEE Transactions on Robotics.

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

[9]  Yuichi Matsumoto,et al.  Modeling of Force Sensing and Validation of Disturbance Observer for Force Control , 2007, IEEE Transactions on Industrial Electronics.

[10]  Ashitava Ghosal,et al.  A force–torque sensor based on a Stewart Platform in a near-singular configuration , 2004 .

[11]  Jan Swevers,et al.  Optimal robot excitation and identification , 1997, IEEE Trans. Robotics Autom..

[12]  John Kenneth Salisbury,et al.  Mechanics Modeling of Tendon-Driven Continuum Manipulators , 2008, IEEE Transactions on Robotics.

[13]  Huang Weiyi,et al.  Mechanical analysis of a novel six-degree-of-freedom wrist force sensor , 1993 .

[14]  Rajnikant V. Patel,et al.  Classical Preisach model of hysteretic behavior in a da Vinci instrument , 2016, 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM).

[15]  Yueh-Hua Lee,et al.  Dynamic Analysis of Tendon Driven Robotic Mechanisms , 2003, J. Field Robotics.

[16]  Makoto Kaneko,et al.  Input-dependent stability of joint torque control of tendon-driven robot hands , 1992, IEEE Trans. Ind. Electron..

[17]  Bin Yao,et al.  Modeling of Viscoelastic Cable-Conduit Actuation for MRI Compatible Systems , 2013 .

[18]  G. Honderd,et al.  Optical fibre force sensor for minimal-invasive-surgery grasping instruments , 1996, Proceedings of 18th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[19]  Ugursay Kiziltepe,et al.  Brucella melitensis endocarditis of ventricular septal defect patch: successful surgical treatment without replacement. , 2003, The Journal of thoracic and cardiovascular surgery.

[20]  Tegoeh Tjahjowidodo,et al.  Hysteresis modeling and position control of tendon-sheath mechanism in flexible endoscopic systems , 2014 .

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

[22]  Sheng A. Liu,et al.  A novel six-component force sensor of good measurement isotropy and sensitivities , 2002 .

[23]  Min Cheol Lee,et al.  Dynamic modeling of coupled tendon-driven system for surgical robot instrument , 2014 .

[24]  Tegoeh Tjahjowidodo,et al.  Adaptive control of position compensation for Cable-Conduit Mechanisms used in flexible surgical robots , 2014, 2014 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO).

[25]  Peter Kazanzides,et al.  An open-source research kit for the da Vinci® Surgical System , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

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

[27]  D. Yuh,et al.  Effects of visual force feedback on robot-assisted surgical task performance. , 2008, The Journal of thoracic and cardiovascular surgery.

[28]  S. Payandeh,et al.  A micromachined piezoelectric tactile sensor for an endoscopic grasper-theory, fabrication and experiments , 2000, Journal of Microelectromechanical Systems.

[29]  A. Cuschieri,et al.  Development of force measurement system for clinical use in minimal access surgery , 2008, Surgical Endoscopy.

[30]  Min Cheol Lee,et al.  Design of bilateral control for force feedback in surgical robot , 2015 .

[31]  Jaydev P. Desai,et al.  A Compact and Modular Laparoscopic Grasper With Tridirectional Force Measurement Capability , 2008 .

[32]  Septimiu E. Salcudean,et al.  Identification of inertial and friction parameters for excavator arms , 1999, IEEE Trans. Robotics Autom..

[33]  Bin Yao,et al.  Control of cable actuated devices using smooth backlash inverse , 2010, 2010 IEEE International Conference on Robotics and Automation.

[34]  Joseph Yan,et al.  A review of biological, biomimetic and miniature force sensing for microflight , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[35]  Rajnikant V. Patel,et al.  Tissue compliance determination using a da Vinci instrument , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[36]  Chao He,et al.  Force sensing of multiple‐DOF cable‐driven instruments for minimally invasive robotic surgery , 2014, The international journal of medical robotics + computer assisted surgery : MRCAS.

[37]  P. Dario,et al.  An advanced robot system for automated diagnostic tasks through palpation , 1988, IEEE Transactions on Biomedical Engineering.

[38]  D. Yuh,et al.  Application of haptic feedback to robotic surgery. , 2004, Journal of laparoendoscopic & advanced surgical techniques. Part A.

[39]  M. Bergamasco,et al.  Dynamic modelling of a class of tendon driven manipulators , 1997, 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97.

[40]  Rajnikant V. Patel,et al.  A sterilizable force-sensing instrument for laparoscopic surgery , 2014, 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics.

[41]  L.D. Seneviratne,et al.  State-of-the-Art in Force and Tactile Sensing for Minimally Invasive Surgery , 2008, IEEE Sensors Journal.

[42]  D. Yuh,et al.  Effect of sensory substitution on suture-manipulation forces for robotic surgical systems. , 2005, The Journal of thoracic and cardiovascular surgery.

[43]  Rajnikant V. Patel,et al.  Quasi-static modeling of the da Vinci instrument , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[44]  Robert D. Howe,et al.  A tactile shape sensing and display system for teleoperated manipulation , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[45]  Thanh Nho Do,et al.  A survey on actuators-driven surgical robots , 2016 .

[46]  Min-Cheol Lee,et al.  Sliding Perturbation Observer Based Reaction Force Estimation Method of Surgical Robot Instrument for Haptic Realization , 2015, Int. J. Humanoid Robotics.

[47]  Gianluca Palli,et al.  Model and control of tendon-sheath transmission systems , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[48]  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..

[49]  Blake Hannaford,et al.  Measurement of the cable-pulley Coulomb and viscous friction for a cable-driven surgical robotic system , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[50]  R.V. Patel,et al.  Multi-sensory force/deformation cues for stiffness characterization in soft-tissue palpation , 2006, 2006 International Conference of the IEEE Engineering in Medicine and Biology Society.

[51]  Min Cheol Lee,et al.  Actual reaction force separation method of surgical tool by fuzzy logic based SMCSPO , 2015 .