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A Force-Feedback Methodology for Teleoperated Suturing Task in Robotic-Assisted Minimally Invasive Surgery.

Armin Ehrampoosh1, Bijan Shirinzadeh1, Joshua Pinskier2

  • 1Robotics and Mechatronics Research Laboratory (RMRL), Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, VIC 3800, Australia.

Sensors (Basel, Switzerland)
|October 27, 2022
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Summary
This summary is machine-generated.

This study introduces a novel force-sensing instrument for robotic surgery, enhancing suturing with semi-automation and haptic feedback. This improves manipulation accuracy and reduces task time in robotic-assisted minimally invasive surgery (RAMIS).

Keywords:
force sensinghaptic feedbackoptoelectronic sensorrobotic assisted minimally invasive surgeryrobotic needle drivervirtual fixture

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Area of Science:

  • Robotics
  • Surgical Technology
  • Biomedical Engineering

Background:

  • Robotic-assisted minimally invasive surgery (RAMIS) offers benefits like smaller incisions but lacks crucial haptic feedback.
  • Current robotic platforms struggle with complex tasks like suturing due to control challenges and prolonged operation times.

Purpose of the Study:

  • To develop a force-sensing instrument for semi-automating suturing in RAMIS.
  • To enhance teleoperated robotic manipulation by providing haptic feedback and improving control accuracy.

Main Methods:

  • A novel end-effector with a rotating degree of freedom for optimized needle trajectory.
  • Impedance control with data-based models for indirect force estimation of needle-tissue interaction.
  • A hyperplanar virtual fixture (VF) constructed using optoelectronic sensors to guide manipulation and prevent unwanted contact.

Main Results:

  • Demonstrated improved needle-tissue interaction force and manipulation accuracy.
  • Showcased reduced task completion times for suturing.
  • Validated force estimation models and user-perceived forces using online data.

Conclusions:

  • The developed force-sensing instrument and virtual fixture system significantly enhance performance in robotic-assisted surgery.
  • This approach shows potential for improving safety and efficiency in complex surgical tasks like suturing.
  • The integration of haptic feedback and guided manipulation represents a key advancement in RAMIS technology.