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Related Experiment Video

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Encouraging and Detecting Preferential Incipient Slip for Use in Slip Prevention in Robot-Assisted Surgery.

Ian Waters1, Dominic Jones2, Ali Alazmani1

  • 1School of Mechanical Engineering, University of Leeds, Leeds LS2 9JT, UK.

Sensors (Basel, Switzerland)
|October 27, 2022
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Summary

This study introduces a novel sensing method to detect tissue slip during robotic surgery. Early detection of slip events helps surgical robots maintain stable grasp, minimizing tissue trauma.

Keywords:
forcegraspingslipsurgical roboticstactile sensing

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Area of Science:

  • Robotics
  • Biomedical Engineering
  • Surgical Technology

Background:

  • Minimally invasive surgery (MIS) using robotic platforms has advanced surgical procedures.
  • Limitations in robotic force feedback and control can lead to tissue trauma and slip events.
  • Stable grasp control is crucial for preventing complications during robotic surgery.

Purpose of the Study:

  • To investigate a sensing method for early detection of tissue slip events during robotic grasping.
  • To enable surgical robots to implement mitigating actions to prevent slip and maintain stable grasp.
  • To reduce the probability of tissue trauma by minimizing applied gripping force.

Main Methods:

  • Developed a sensing concept utilizing a curved grasper face with varying normal and frictional forces.
  • Designed the grasper face with independent movable islands to track displacement.
  • Evaluated the system using simulated tissue grasping and retraction with silicone simulants and porcine liver samples.

Main Results:

  • The sensing method successfully detected slip events before gross slip occurred.
  • Achieved a 100% success rate with tissue simulants.
  • Demonstrated a 77% success rate with porcine liver samples.

Conclusions:

  • The developed sensing method and sensor system are effective for detecting tissue slip during surgical grasping.
  • This technology has the potential to enhance safety and precision in robotic surgery.
  • Early slip detection can significantly improve grasp stability and reduce tissue injury.