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A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy
Yuxin Chen1, Anna Goodridge1, Manish Sahu2
1Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Summary
This study introduces a force-sensing surgical drill for robotic otologic surgery. The new drill provides accurate force measurements, enhancing safety by limiting tool-tissue interaction forces during bone removal.
Area of Science:
- Robotics in Medicine
- Surgical Technology
- Biomechanics
Background:
- Robotic assistance in otologic surgery can reduce surgeon task load.
- Safe deployment of surgical tools requires advanced sensing to limit interaction forces.
Purpose of the Study:
- To introduce a surgical drill with integrated force sensing capabilities.
- To enable precise force control and feedback for surgeons during otologic procedures.
Main Methods:
- Development and calibration of a force-sensing surgical drill.
- Mounting the drill on a cooperatively controlled surgical robot.
- Validation using raw-egg drilling experiments with a ground truth force sensor.
Main Results:
- The force-sensing drill achieved sub-millinewton force resolution.
- Experiments showed minimal error in force measurements (average RMSE of 41.7 mN and 48.3 mN).
- Validated accurate tool-tissue interaction force measurements.
Conclusions:
- The force-sensing prototype enables accurate force measurements crucial for robotic surgery.
- This technology is vital for the safe clinical application of robotic surgical systems.
- Enhanced sensing capabilities improve safety in otologic and skull base procedures.
