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Sensorless Force Sensing for Minimally Invasive Surgery.

Baoliang Zhao1, Carl A Nelson1

  • 1Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68508

Journal of Medical Devices
|May 26, 2016
PubMed
Summary
This summary is machine-generated.

Researchers explored using motor current to estimate tool-tissue forces in robotic minimally invasive surgery (R-MIS). This sensorless method offers accurate, low-delay haptic feedback, enhancing R-MIS systems without bulky sensors.

Keywords:
force feedbackrobotic minimally invasive surgerysensorless force estimation

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Area of Science:

  • Robotics
  • Surgical Technology
  • Biomedical Engineering

Background:

  • Robotic minimally invasive surgery (R-MIS) offers benefits but lacks tactile feedback.
  • Current methods for force sensing in R-MIS tools are complex, affecting sterilization and tool design.

Purpose of the Study:

  • To investigate the feasibility of using motor current for sensorless estimation of tool-tissue forces in R-MIS.
  • To determine the accuracy and time delay of this sensorless force estimation method.

Main Methods:

  • Explored the relationship between motor current and tool-tissue interaction forces.
  • Developed and tested a sensorless force estimation algorithm using motor current data.

Main Results:

  • Demonstrated acceptable accuracy in estimating tool-tissue forces using motor current.
  • Achieved acceptable time delay for the sensorless force estimation method.
  • Validated the potential for a sensorless haptic feedback system.

Conclusions:

  • Motor current-based force estimation is a feasible sensorless approach for R-MIS.
  • This method can enable haptic feedback in existing R-MIS systems without added sensors or sterilization issues.