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External force estimation and implementation in robotically assisted minimally invasive surgery.

Hongqiang Sang1, Jintian Yun1, Reza Monfaredi2

  • 1School of Mechanical Engineering and Advanced Mechatronic Equipment Technology, Tianjin Polytechnic University, Tianjin, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|May 4, 2017
PubMed
Summary
This summary is machine-generated.

Researchers developed a novel method for force sensing in robotic surgery without physical sensors. This advancement in minimally invasive surgical robotics offers improved control and safety.

Keywords:
da Vinci Research Kit (dVRK)dynamicsforce estimationminimally invasive surgeryparameter identification

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Area of Science:

  • Robotics
  • Surgical Technology
  • Control Systems

Background:

  • Robotically assisted minimally invasive surgery offers advantages over traditional methods.
  • Current systems lack crucial force sensing and feedback capabilities.

Purpose of the Study:

  • To develop and validate a method for external force estimation in robotic surgery.
  • To enable force sensing without dedicated hardware sensors.

Main Methods:

  • Utilized the da Vinci research kit for implementation.
  • Developed a model of the Patient Side Manipulator dynamics.
  • Proposed an external force estimation method based on dynamics and motor currents.
  • Experimentally identified dynamic parameters using a least squares method.

Main Results:

  • Successfully performed dynamic parameter identification and joint torque estimation.
  • Demonstrated accurate external force estimation without external force sensors.
  • Experimental results confirmed the feasibility of the proposed method.

Conclusions:

  • A novel, feasible method for force estimation in surgical robotics was developed.
  • This technique can be integrated into minimally invasive surgical robotic systems for enhanced force sensing.
  • The proposed method holds potential for improving safety and precision in robotic surgery.