Download or read book Grasper Integrated Miniaturized Tri Axial Force Sensor System for Robotic Minimally Invasive Surgery written by Yuan Dai and published by . This book was released on 2018 with total page 181 pages. Available in PDF, EPUB and Kindle. Book excerpt: Minimally invasive surgery (MIS) has gained popularity over traditional open surgery due to its advantages of decreased incision size and pain to the patient, lower risk of infection, and shorter recovery time. Recent developments in robotic surgical systems have shown promise to further advance MIS by offering the surgeons with increased manipulability and dexterity along with 3D vision. However, the lack of tactile feedback is the key feature that is needed for robotic surgery to reach its full potential. Recent research efforts have successfully integrated some degree of tactile feedback components onto surgical robotic instruments, and have shown significant improvement of the outcome of the surgical performance. The primary barrier to the adoption of tactile feedback in clinical use is the unavailability of suitable tri-axial force sensing technologies that can be integrated with the medical instruments. Besides well-understood normal force sensing, shear force sensing is also critical in clinical tasks, such as suturing, where shear sensing could prevent breakage of sutures due to excessive shear force. This paper describes the design, batch microfabrication, and characterization of a miniature force sensor for providing haptic feedback in robotic surgical systems. We demonstrate for the first time a microfabricated sensor that can provide triaxial sensing (normal, x-shear, y-shear) in a single sensor element that is integrated with commercial robotic surgical graspers. Features of this capacitive force sensor include differential sensing in the shear directions as well as a design where all electrical connections are on one side, leaving the backside pristine as the sensing face for surgical tasks. The sensor readout is performed by a custom-designed printed circuit board with 24-bit resolution. The integration of read-out circuits with the capacitive sensor is designed on two printed circuit boards that can be clipped together, providing the possibility for disposable sensors. The sensing system is first connected to the LabVIEW-based controller, to convert the analog capacitor signal to a digital signal representing force. After the functionality of the sensor is proven, the tactile sensor system is then integrated with our custom Visual Studio based feedback control system. Initial LabVIEW results validate the batch fabrication of the capacitive sensors and the design of the control circuit. The sensor is characterized using a sensing circuit with a 24-bit resolution at 11 Hz-109 Hz. With the LabVIEW program, the sensor and the readout circuitry contribute to a noise down to 0.8 fF to the normal z-direction, 0.2 fF to the shear x-direction, and 0.9 fF to the shear y-direction at 8 Hz bandwidth. The grasper integrated sensor system uses an Arduino based controller to multiplex between x, y, and z directions, providing 24 packets of tri-axial data per second to the Visual Studio-based computer application, with down to 0.094 fF capacitance noise to the normal z-direction, 0.078 fF to the shear x-direction, and 0.0825 fF to the shear y-direction at 87.2 Hz bandwidth. The sensitivity measured for the sensor is 14.58 fF/N for normal z direction, 0.83 fF/N for the shear x direction, and 0.62 fF/N for the shear y direction. We report a normal resolution of 6.45 mN, x-shear resolution of 94.7 mN, and y-shear resolution of 133 mN, all of which are more than sufficient for clinically relevant forces. A data latency of less than 42 ms is achieved to obtain a triaxial data package and transmit it to the computer through the WiFi network. A user study has been performed to tackle the suture breakage phenomenon that occurs during robotic surgery with the application of excessive forces due to lack of haptic feedback. The work aims to develop and validate a bi-axial shear feedback system that warns the operator to anticipated suture breakage. The benefits of a suture breakage warning system may be a reduced incidence of suture failure with otherwise equivalent knot quality during the tying procedure. Biaxial shear sensors were placed on the Cadiere grasper tips of a da Vinci robotic surgical system. 17 novice subjects were then instructed to tighten 10 knots made from Silk 3-0 sutures, five times with the Haptic Feedback System (HFS) enabled, and five times with the system disabled (i.e., without any feedback). During each trial, the number of suture breakages was recorded. After trial completion, knots were evaluated for tightness. This was accomplished by measuring the amount of knot slippage following knot tying. Additional metrics recorded were the time required for completing each trial and both the average force and peak force applied in each trial. Seven suture failures occurred in trials with HFS enabled while seventeen occurred in trials without feedback. The biaxial shear sensing system reduced the incidence of suture failure by 59% (). It also resulted in 25% lower average applied force in comparison to trials without feedback (), which is relevant because average force was observed to play a role in suture breakage (p=0.03925). Results of a 55% decrease in standard deviation of quality knots tied with HFS also indicate an improvement in consistency when using the feedback system. These results suggest this system may improve outcomes related to knot tying tasks in robotic surgery and reduce instances of suture failure while not degrading the quality of knots produced.

Download or read book Development of Capacitive Tactile Sensors for Surgical Systems written by Yuan Dai and published by . This book was released on 2015 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: Minimally invasive surgery (MIS) has gained popularity over traditional open surgery due to its advantages of decreased incision size and pain to the patient, lower risk of infection, and shorter recovery time. Recent developments in robotic surgical systems have shown promise to further advance MIS by offering the surgeons with increased manipulability and dexterity along with 3D vision. However, one major disadvantage associated with robotic surgery is the absence of tactile feedback, which is critical in tool-tissue interaction. This paper provides an overview and information useful for approaching a novel tactile feedback sensor system. We aim to construct highly sensitive micro-scale tri-axial capacitive-based differential force sensors that will be integrated at the tips of surgical tools used in robotic surgery. To date, three capacitive sensor models have been proposed. Comb drive model, joystick model and single-sided capacitive sensor model. The first two models were initially created by COMSOL, with optimized geometry parameters. We demonstrate that all three models can satisfy the sensitivity and resolution requirement after being connected with a readout circuit. The fabrication process is proposed and short-loop experiments have been conducted. The integration of read-out circuits with the capacitive sensor is designed on a flexible printed circuit board, which will be first connected to the computer with LabVIEW based controller to convert the analog signal to digital capacitor signal, and the force information as well as the real-time sensitivity, resolution values can be obtained. After the functionality of the sensor is proven to be valid, the proposed tactile sensor system needs to integrate into current Haptic Feedback System. Both the microcontroller and the software need to be modified to function with the proposed sensor and the actuators.

Download or read book Tactile Sensing and Displays written by Javad Dargahi and published by John Wiley & Sons. This book was released on 2012-11-06 with total page 287 pages. Available in PDF, EPUB and Kindle. Book excerpt: Comprehensively covers the key technologies for the development of tactile perception in minimally invasive surgery Covering the timely topic of tactile sensing and display in minimally invasive and robotic surgery, this book comprehensively explores new techniques which could dramatically reduce the need for invasive procedures. The tools currently used in minimally invasive surgery (MIS) lack any sort of tactile sensing, significantly reducing the performance of these types of procedures. This book systematically explains the various technologies which the most prominent researchers have proposed to overcome the problem. Furthermore, the authors put forward their own findings, which have been published in recent patents and patent applications. These solutions offer original and creative means of surmounting the current drawbacks of MIS and robotic surgery. Key features:- Comprehensively covers topics of this ground-breaking technology including tactile sensing, force sensing, tactile display, PVDF fundamentals Describes the mechanisms, methods and sensors that measure and display kinaesthetic and tactile data between a surgical tool and tissue Written by authors at the cutting-edge of research into the area of tactile perception in minimally invasive surgery Provides key topic for academic researchers, graduate students as well as professionals working in the area

Download or read book Miniature Multi axis Optical Fibre Force Sensor for Minimally Invasive Surgery written by Pinyo Puangmali and published by . This book was released on 2011 with total page 500 pages. Available in PDF, EPUB and Kindle. Book excerpt: Minimally invasive surgery (MIS) is becoming the preferred approach in several domains of surgery since it offers great reduction of pain, blood loss, post operative infection and patient's recovery time. However, because the MIS operating field is not directly accessible, surgeons face many difficulties when carrying out operations through small incisions. -- One of the major problems of MIS is the lack of effective force and tactile sensing capabilities. This potentially restricts surgeons in performing delicate surgical tasks. Tissue palpation which is easily done in traditional open surgery to investigate tissue properties and abnormalities cannot be effectively performed when operating through "keyholes". Over the past few years, research on force sensing in MIS has been conducted, aiming to overcome the lack of intuitive feel of tissue interaction. As a consequence, a number of force sensor prototypes have been developed. These include a uniaxial optical fibre force sensor and a non-metallic triaxial optical fibre force sensor that operates based on newly proposed intensity-modulated sensing schemes using bent-tip optical fibres. By introducing and researching a novel optical fibre sensing methodology that allows force measurements to be realised in a sensing system with very small dimensions, a miniature multi-axis force sensor has successively been fabricated. This sensor prototype has been tested measuring tissue interaction forces in an ex vivo tissue palpation experiment. The results show that the sensor is capable of measuring forces and identifying tissue stiffness. Tissue lesions such as tumours that are buried in a soft tissue organ and are stiffer than the surrounding tissue can be detected and localised using the proposed sensing device.

Download or read book Haptics For Teleoperated Surgical Robotic Systems written by Mahdi Tavakoli and published by World Scientific. This book was released on 2008-04-14 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance.

Download or read book Micromachined Multifunctional Polyvinylidene Fluoride Tactile Sensor for Minimally Invasive Surgery Graspers written by Saeed Sokhanvar and published by . This book was released on 2007 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Promising results of Minimally Invasive Surgery, MIS, in the last two decades have been the main incentive of numerous researches in this area. However, despite numerous advantages of this relatively new technique, using of long tools inserted through small ports on the body deprive surgeons of the depth perception, dexterity, sense of touch, and straightforward hand-eye coordination that are accustomed to surgeons in open procedures. Many researches have been launched to rectify the mentioned shortcomings and some improvements, such as, excellent stereo visual feedback and satisfactory dexterity, have been made recently in robotic assisted surgical systems. However, the current MIS tools whether in endoscopic surgery or in robotic assisted surgery are incapable of providing tactile feedback. The tactile information collected by the surgeon's hand in an open surgery is vital for success in complex and delicate operations. For instance, the ability to distinguish between different types of tissue in the body is of vital importance to a surgeon. Before making an incision into tissue, the surgeon must identify what type of tissue is being incised. Failure to classify properly the tissue can cause severe consequences. There have been some attempts to develop smart MIS graspers with integrated sensors. However, many of these integrated sensors are limited to force or softness sensing. From a functional point of view, integrating several sensors each of them is responsible for measuring a specific quantity is difficult. In contrast, a multi-functional tactile sensor which would be able to address several concerns such as force measurement, determining position of the force, assessing softness of the grasped object, detecting any hidden lumps in bulk soft tissue is highly desirable. The transduction techniques used in the relevant researches have been reported as capacitive and piezoelectric techniques. In this study, the piezoelectric polymer Polyvinylidene Fluoride (PVDF) has been used as the transducer due to its unique features and also bio-compatibility. This study aimed at introducing a multi-functional tactile sensor which would be able to address many of the required information in a surgery procedure. A unit of the proposed sensor is able to measure the applied force and its position along the length of the sensor system. In addition, it is also able to differentiate the softness of the contact objects. An array of sensor is able to locate the applied load or any hidden mass in a plane (i.e. xy plane). Integration of the sensors into both jaws of the grasper, enables the smart grasper to determine the depth of any hidden masses. Regardless of the type of the integrated sensor, the study of stress profile in the presence of a lump, at the contact surface of object-grasper is of importance. The behavior of the soft tissue highly influences the stress distribution at the contact surface of tissue and grasper. Although modeling all of the complex behavior of soft tissue is very difficult, in this study, the nonlinear characteristics of the tissue is considered. In the absence of the soft tissue the simulation and experiments are conducted on the elastomers which exhibit very similar behavior. However, the ultimate objective is the integration of the proposed sensor with the existing MIS graspers. To do this, the sensor must be microfabricated. Therefore, in order to study the feasibility of micromachining of the proposed sensor, the microfabrication procedure for the tactile sensor was examined and the fabrication difficulties were identified. The conventional anisotropic wet etching has been used for micromachining the device.

Download or read book Design of Pressure Feedback Sensors for Miniaturized Intra ventricular Neurosurgery Robotic Tools written by Tianhao Chen and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Remote-controlled minimally invasive neuroendoscopic robotic surgical tools can be miniaturized to less than 2 mm-diameter range while maintaining their dexterity and force required to perform operations without open-skull surgeries. However, these platforms lack haptic information for surgeons, leading to possible loss of control over tissue. This thesis investigates two places on the surgical tool for integration of sensor systems: the bendable tube shaft of recently developed concentric tube robot, and the miniaturized magnetically driven forceps. For the tube shaft, a highly sensitive resistive based sensor is optimized, developed and wrapped around to provide force and location feedback while being adaptable to the tube's changing curvatures during operation. For the microgipper, a microstrutured capacitive sensor design is proposed and optimized using computer simulations to measure normal and shear stresses. These sensors are then developed using microfabrication techniques before subjecting to bench-top and brain phantom tests for assessments of their performances.

Download or read book Tactile Sensors for Minimally Invasive Surgical Systems written by Omeed Paydar and published by . This book was released on 2016 with total page 79 pages. Available in PDF, EPUB and Kindle. Book excerpt: Minimally invasive surgery (MIS) improves patient outcomes. Operations result in smaller incisions, shorter recovery times, lower risk of infection, and reduced pain as compared to open surgery. Moreover, robotic surgical systems improve upon traditional laparoscopic tools used in MIS, including improved dexterity, tremor removal, scaled movements, and 3D visualization. While the adoption of robotic surgical tools accelerates nationwide, these systems are characterized by an absence of touch sensation, which ultimately impedes transition of more delicate procedures. Likewise, excessive grip forces could induce tissue damage, including scar formation, hemorrhaging, perforations, and adhesions. Furthermore, without tactile information, sutures fail because of excessive tensile loads and surgeons require additional training to reach proficiency on the available surgical robots. Although robotics addresses a subset of surgical procedures, efforts to develop and integrate multi-axis biocompatible sensor arrays with commercial robotic surgical systems remain inadequate. New tools that measure compressive sensing could prevent tissue crush injuries, while shear sensing will help reduce suture failure from excessive tensile loads. Consequently, this study investigates the development of a capacitive sensor capable of restoring touch sensation to surgeons operating robotic surgical systems. Real-time access to operative loads could minimize robotic surgical complications, and ultimately, lead to the inclusion of more challenging (demanding) procedures. This work explores a relatively under-researched, undeveloped area of robotic surgery and the major remaining challenge. Because minimally invasive surgery (MIS), specifically robotic surgery, is becoming more prevalent [1], efforts to improve the outcomes are essential. Successful acquisition of intraoperative tactile information will fast-track acceptance of these tools and prevent unwanted patient outcomes.

Download or read book Analysis of a Micro scale Tri axial Capacitive based Differential Force Sensor for Haptic Feedback System in Robotic Surgery written by Francisco Javier Mancillas and published by . This book was released on 2018 with total page 58 pages. Available in PDF, EPUB and Kindle. Book excerpt: It is known that the absence of tactile feedback in robotic surgery represents a limiting factor to surgeons. In effect, the lack of tactile feedback in robotic surgical tools is closely associated with tissue damage. This is especially true among novice surgeons who, not having surgical tools that measure compressive sensing, apply excessive force causing tissue crush injuries. Additionally, the lack of tactile feedback in the shear directions lead to additional problems, such as breaking of sutures due to excessive pull forces. In view of the lack of tactile feedback, our efforts have been focused on developing a highly sensitive micro-scale, tri-axial, capacitive-based, differential force sensor. To this end, we provide relevant derivations to single-element, multi-axis capacitive sensing including an illustrative discussion on capacitive pressure sensor (CPS) theory. We begin our discussion on CPS theory with the well-known parallel plate capacitor to illustrate key physical concepts and move on to more complex structures, such as capacitors with asymmetrical surface areas under deformation. Whenever possible, we provide explicit capacitance expressions for these last structures and demonstrate that such expressions reduce to more familiar ones. To ensure the validity of our theoretical calculations, we have also provided results obtained from COMSOL Multiphysics simulations. It is worth mentioning that for our theoretical calculations, we have only considered deformations in the downward direction as a result of external forces applied to the top surface of the CPS model so as to facilitate the evaluation of capacitance expressions. For the COMSOL Multiphysics simulations of our proposed capacitive force sensor (CFS) model, on the other hand, no restrictions are imposed on the direction of deformation. The design, including sensor location and performance criteria, of our current CFS model is also considered as well as its working principle.

Download or read book Characterisation Modelling and Analysis of a Haptically Enabled System for Robotic Assisted Minimally Invasive Surgery written by Mohsen Moradi Dalvand and published by . This book was released on 2013 with total page 614 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this research, the effects of realistic sensory feature of the lateral forces arisen from sideways interaction of the tool tip with soft tissue in palpation operations in robotic assisted minimally invasive surgery (RAMIS) operations with the scale factor of "100%" were studied. A RAMIS system with ten degrees of freedom (DOF) consisting of a 6-DOF 6-RRCRR parallel micropositioning robot incorporated with a novel 2-DOF automated modular force feedback enabled laparoscopic instrument through a closed chain RPRR mechanism and an actuated linear guide (monocarrier) was also proposed. The special family of parallel manipulators with RRCRR architecture was studied and numerical solutions to the inverse and forward kinematics of 6-RRCRR parallel micromanipulators were proposed. Numerical and graphical simulations were also carried out to validate the proposed theoretical results. High accuracy in micron range and good performance were obtained by the proposed solutions to the inverse and forward kinematics problems of this special family of parallel robots.In order to accurately measure the tool/tissue interaction forces directly from surgery site in real-time during surgical operations, an actuated laparoscopic instrument with the capability to measure the tool/tissue sideways and normal interaction forces was proposed. A force sensing stainless-steel sleeve, with strain gauges incorporated into it, was designed and developed to measure lateral interaction forces. The instrument features actuation of the tip and also the measurement of interaction forces without using any actuator or sensor at the tip jaws. The grasping direction of the proposed instrument can also be adjusted during the surgical procedure. It is also able to convert between various tool tips of various functionalities (e.g. cutter, grasper, and dissector) without loss of control and force measurement capability. Thin wires of the strain gauges measuring sideways forces were placed and covered in four tiny grooves made on the outer surface of the force-sensing sleeve. The linear relationships between applied forces and the induced strains for the appropriate ranges of applied loads in laparoscopic surgery were confirmed by finite element analysis results. Three strain gauge configurations were also calibrated, and the experimental data verified the monotonic response of the bridge configurations. Experiments were conducted and the results verified the ability of the instrument in accurately measuring both magnitude and direction of the applied sideways forces and in distinguishing between tissue samples even with slight differences in stiffness.To manipulate the proposed 10-DOF parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS), a unique control algorithm was proposed making the PRAMiSS capable of performing the manipulations under the constraint of moving through the fixed penetration or so-called remote centre-of-motion (RCM) point. The control algorithm is also capable of minimising the displacements of the parallel micropositioning robotic system while it is preventing the tool tip to orient around the instrument axis due to the robot movements. Computational analysis integrated with graphical simulations, as well as experiments, were carried out to demonstrate the correlation between the numerical results and the PRAMiSS physical response and to validate the obtained theoretical results. Numerical and experimental results verified the accuracy, flexibility, and effectiveness of the proposed control algorithm in applying the RCM, the tip orientation, and the minimum displacement constraints in various situations of both manipulations with millimetre and micrmeter resolutions particularly MIS and minimally invasive microsurgery (MIMS) operations.Finally, the proposed control algorithm was employed to manipulate the proposed robotic assisted surgery system (PRAMiSS), and obtain feedback from the proposed force feedback enabled laparoscopic instrument. The proposed methodology was implemented in order to evaluate the effects of force feedback in characterising tissues of varying stiffness using realistic palpation. Four different experiments of characterising tissues using only vision feedback, only force feedback, simultaneous force and vision feedbacks and direct palpations were conducted to evaluate the effects of realistic force feedback in palpation of different tissues of varying stiffness with the scale factor of "100%" . Experimental results were analysed using statistical analysis based on a single factor analysis of variance (ANOVA) and Tukey HSD methods to test whether a significant statistical difference exists between the data sets, and to examine pairwise mean comparisons, respectively. Experimental results and statistical analysis proved that providing visual and force feedbacks simultaneously, not only improves the accuracy of characterizing tissues, but also significantly increases the certainty of the results compared with those of vision feedback alone or force feedback alone. The statistical analysis also demonstrated that there is no significant difference between the average percent correct results of the direct palpation compared with that of the simultaneous vision and force feedback experiments. It was also concluded that providing both vision and force feedbacks together in robotic assisted surgery system increases the certainty of responses for tissue characterisation task compared even with direct palpation.

Download or read book Development of Piezoresistive Tactile Sensors and a Graphical Display System for Minimally Invasive Surgery and Robotics written by Masoud Kalantari and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book A Three dimensional Force Sensor with Applications in Minimally Invasive Surgery written by Emily Garrison and published by . This book was released on 2005 with total page 136 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robotic Assisted Minimally Invasive Surgery written by Shawn Tsuda and published by Springer. This book was released on 2018-10-31 with total page 346 pages. Available in PDF, EPUB and Kindle. Book excerpt: Minimally invasive surgery has impacted the outcomes of surgery more than any technology since the development of sterile technique. The hard science has demonstrated that decrease in wound complications and recovery time has created the biggest gap with open approaches to surgery. The total economic benefit may be unfathomable when looked at comprehensively. Integral to the rise of minimal access and therapeutic techniques in surgery has been the growth of technological improvements over time. Beginning with insufflators, videoscopy, and energy devices, that evolution has continued into the development of tele-surgical devices that feature full articulation of instruments, high-resolution 3-D optics, and computer assisted movement. This has come with controversy – as the dominant manufacturer of robotic assisted devices, Intuitive Surgical, and their generations of da Vinci surgical platforms, holds enough market share to spur cries of monopoly and financial excess. However, with over 3000 world-wide systems in use, and over 6000 peer-reviewed research articles, the impact of robotic surgery cannot be ignored. The current state of data suggests equivalency in most procedures with regard to traditional outcome measures, equal or somewhat elevated costs, with specific areas of superiority. The first section of this textbook, Surgical Robots, covers the history, economics, training, and medico-legal aspects of robotic surgery that will be of interest to students, residents, fellows, surgical staff, and administrators or public health specialists who seek to gain a comprehensive background on robotic surgery, or justification for purchasing a robotic system for their institution. Surgeons will also find this background valuable to their practice, to give context to their procedures so they can better counsel their patients, help with advocating for robotic platform purchases, and proactively prepare themselves for medico-legal issues. The chapter on legal issues will have specific instances of robotic surgery-related lawsuits and their outcomes, a first for robotic surgery texts. The second section of this textbook, Robotic Procedures, will contain a comprehensive catalogue of procedures that have been performed robotically in general surgery, gynecology, urology, plastic surgery, cardiothoracic, and otolaryngology. Each author will cover the existing literature, preoperative planning, room and patient setup, steps of the procedure, and postoperative care. Standardized room maps and port placement will help the student, resident, fellow, surgeon or OR Staff to quickly reference these before cases. Each chapter will also cover the specific equipment needs and expected complexity of the procedures, allowing administrators to better gauge how to prepare for, or ration, use or their robotic resources. The final section, Future of Robotics, will give the entire scope of audience a look into what exciting advancements in the field are on the horizon. This textbook is a complete resource for robotic-assisted minimally invasive surgery, covering the history, current state, technical and clinical aspects, and future considerations that may be of interest to any who has a role, stake, or curiosity regarding robotic surgery.

Download or read book Haptics enabled Teleoperation for Robotics assisted Minimally Invasive Surgery written by Ali Talasaz and published by . This book was released on 2012 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: The lack of force feedback (haptics) in robotic surgery can be considered to be a safety risk leading to accidental tissue damage and puncturing of blood vessels due to excessive forces being applied to tissue and vessels or causing inefficient control over the instruments because of insufficient applied force. This project focuses on providing a satisfactory solution for introducing haptic feedback in robotics-assisted minimally invasive surgical (RAMIS) systems. The research addresses several key issues associated with the incorporation of haptics in a master-slave (teleoperated) robotic environment for minimally invasive surgery (MIS). In this project, we designed a haptics-enabled dual-arm (two masters - two slaves) robotic MIS testbed to investigate and validate various single-arm as well as dual-arm teleoperation scenarios. The most important feature of this setup is the capability of providing haptic feedback in all 7 degrees of freedom (DOF) required for RAMIS (3 translations, 3 rotations and pinch motion of the laparoscopic tool). The setup also enables the evaluation of the effect of replacing haptic feedback by other sensory cues such as visual representation of haptic information (sensory substitution) and the hypothesis that surgical outcomes may be improved by substituting or augmenting haptic feedback by such sensory cues. To provide realistic haptic feedback, it is necessary to measure forces acting at the tip of the laparoscopic instruments in all appropriate directions, as well as when gripping, cutting or palpating tissue. In order to achieve this, we have incorporated two types of laparoscopic instruments in the testbed: A sensorized da Vinci tool, with the capability of measuring grasping forces provided by several strain gauges embedded in the tool shaft, and a customized instrument, the Tactile Sensing Instrument (TSI), which has been developed in our laboratory for soft-tissue palpation in RAMIS. Two surgical scenarios are considered in this project: Tumor localization in soft-tissue palpation, and endoscopic suturing. The first application is to localize tumors embedded in liver and lung tissue through the single-arm master-slave teleoperation system. Since the stiffness of a tumor is higher than that of healthy tissue, it can be distinguished as a hard nodule during remote palpation. Tactile sensing is a method that can be used in RAMIS to localize cancerous tumors prior to performing ablative therapies. However, its performance is highly dependent on the consistency of the exploration force. Using the customized tactile sensing instrument, the pressure distribution over the tissue is captured and provided as a color contour map on a screen. In order to apply the exploration force consistently over the tissue, different force feedback modalities are incorporated with tactile sensing feedback: Direct reflection of force feedback, visual presentation of interaction forces, and a fusion method utilizing an autonomous force control for the exploration force in the palpation direction and direct reflection of the force measured at the location of the tumor to the operator's fingers through the grasper mechanism of the haptic interface. The problem of incorporating haptic feedback in robot-assisted endoscopic suturing is explored as the next telesurgery scenario. The dual-arm teleoperation setup is used for this application. In order to assess the quality of suturing, we divide the suturing task into two phases: stitching and knot tying. Each phase consists of several well-specified sub-tasks. The experiments are performed in three modes: without force feedback, with visual force feedback and with direct force reflection to the user. Three levels are considered for the visual feedback presented to the user. The main objective of showing force in different levels is to assure the user that the force being applied on the suture is sufficient to end up with a secure knot. The main focus on this work is to explore which way of presenting force feedback can be more effectively used, and how each modality can help the user to increase the performance.

Download or read book Surgical Robotics written by Jacob Rosen and published by Springer Science & Business Media. This book was released on 2011-01-15 with total page 827 pages. Available in PDF, EPUB and Kindle. Book excerpt: Surgical robotics is a rapidly evolving field. With roots in academic research, surgical robotic systems are now clinically used across a wide spectrum of surgical procedures. Surgical Robotics: Systems Applications and Visions provides a comprehensive view of the field both from the research and clinical perspectives. This volume takes a look at surgical robotics from four different perspectives, addressing vision, systems, engineering development and clinical applications of these technologies. The book also: -Discusses specific surgical applications of robotics that have already been deployed in operating rooms -Covers specific engineering breakthroughs that have occurred in surgical robotics -Details surgical robotic applications in specific disciplines of surgery including orthopedics, urology, cardiac surgery, neurosurgery, ophthalmology, pediatric surgery and general surgery Surgical Robotics: Systems Applications and Visions is an ideal volume for researchers and engineers working in biomedical engineering.

Download or read book Investigation of Multi Modal Haptic Feedback Systems for Robotic Surgery written by Ahmad Abiri and published by . This book was released on 2017 with total page 183 pages. Available in PDF, EPUB and Kindle. Book excerpt: The advent of minimally invasive surgery (MIS) led to significant benefits for patients at a cost of increase technical difficulty for surgeons. Robotic minimally invasive surgery (RMIS) was introduced to help eliminate some of the outstanding challenges by introducing improvements such as enhanced 3D vision and additional degrees of freedom. Unfortunately, RMIS resulted in a complete loss of haptic feedback, a problem that has persisted even after more than a decade of technology development. The limitations introduced by the loss of feedback in robotic surgery gave birth to innovations and significant research on haptic feedback systems (HFS). These systems aimed to provide an artificial sense of touch. Researchers have focused on many varieties of feedback technologies, most often relying on one specific feedback modality to help improve performance in a few, limited robotic surgical procedures. This research project set out to investigate multi-modal haptic feedback systems capable of providing benefits for many different robotic surgical applications. Having inherited an existing tactile feedback system designed for reducing crush injuries in robotic surgical procedures, this project implemented various critical enhancements for pneumatic normal force tactile feedback. Improvements to the sensing technology such as design of shear sensing mechanisms helped expand the application of haptics beyond grip force reduction. The development and integration of additional modalities of feedback including kinesthetic force feedback and vibration feedback, and design of a highly configurable software architecture allowed the application of the multi-modal HFS in several different RMIS applications. Evaluation of the system for knot tying in robotic surgery showed significant benefits in reducing suture breakage and improving knot quality. Application of the multi-modal HFS for palpation in robotic surgery helped improve detection non-compressible structures such as tumors and vessels in soft tissue phantoms. Finally, the system improved upon the previously developed unimodal tactile feedback systems with regards to reduction of grip force in RMIS. The results of these investigations highlight the importance of developing multi-modal haptic feedback systems that are able simulate the synergistic relationship between the various feedback modalities involved in real human touch. Robotic surgical systems have long been held back by their lack of comprehensive haptic feedback solutions. Multi-modal haptic feedback systems hold the promise of eliminating this long-standing problem and helping expand the application of robotics in surgical sciences.

Download or read book Force Sensing and Force Feedback in Minimally Invasive Surgery written by Marko Mikic and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic surgery has begun to substitute both open surgery and laparoscopy. While there are many advantages to robotic devices such as the da Vinci Surgical System, there is a disconnection between hand and patient, resulting in a loss of haptics. There is an opportunity to re-establish the connection with the use of an external stimulus that can provide feedback, either through the visual, tactile, or auditory senses. The forces applied throughout the procedure can be measured and mapped to a change in colour, vibration, or sound, allowing the surgeon to have more awareness. Seven participants were given the task of completing a suturing task on a simulated phantom while either receiving no feedback, audio, visual, or combined feedback that represents the magnitude of their applied force. Trials involving feedback demonstrated reduced forces, suggesting more awareness and lower chances of post surgical complication for application to an actual operation.