TY - JOUR
T1 - A sensorless force-feedback system for robot-assisted laparoscopic surgery
AU - Zhao, Baoliang
AU - Nelson, Carl A.
N1 - Funding Information:
This work was supported by the US National Institute of Biomedical Imaging and Bioengineering [award 5 R21 EB015017-02], Key Fundamental Research Program of Shenzhen [No. JCYJ20170413162256793, No. JCYJ20160608153218487] and in part by Shenzhen Peacock Plan [No. KQTD2016113010571019] and Shenzhen Key Laboratory Project [No. ZDSYS201707271637577].
Publisher Copyright:
© 2019, © 2019 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.
PY - 2019/10/1
Y1 - 2019/10/1
N2 - The existing surgical robots for laparoscopic surgery offer no or limited force feedback, and there are many problems for the traditional sensor-based solutions. This paper builds a teleoperation surgical system and validates the effectiveness of sensorless force feedback. The tool-tissue interaction force at the surgical grasper tip is estimated using the driving motor’s current, and fed back to the master robot with position-force bilateral control algorithm. The stiffness differentiation experiment and tumor detection experiment were conducted. In the stiffness differentiation experiment, 43 out of 45 pairs of ranking relationships were identified correctly, yielding a success rate of 96%. In the tumor detection experiment, 4 out of 5 participants identified the correct tumor location with force feedback, yielding a success rate of 80%. The proposed sensorless force-feedback system for robot-assisted laparoscopic surgery can help surgeons regain tactile information and distinguish between the healthy and cancerous tissue.
AB - The existing surgical robots for laparoscopic surgery offer no or limited force feedback, and there are many problems for the traditional sensor-based solutions. This paper builds a teleoperation surgical system and validates the effectiveness of sensorless force feedback. The tool-tissue interaction force at the surgical grasper tip is estimated using the driving motor’s current, and fed back to the master robot with position-force bilateral control algorithm. The stiffness differentiation experiment and tumor detection experiment were conducted. In the stiffness differentiation experiment, 43 out of 45 pairs of ranking relationships were identified correctly, yielding a success rate of 96%. In the tumor detection experiment, 4 out of 5 participants identified the correct tumor location with force feedback, yielding a success rate of 80%. The proposed sensorless force-feedback system for robot-assisted laparoscopic surgery can help surgeons regain tactile information and distinguish between the healthy and cancerous tissue.
KW - Surgical robot
KW - laparoscopic surgery
KW - sensorless force feedback
KW - teleoperation system
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U2 - 10.1080/24699322.2018.1557887
DO - 10.1080/24699322.2018.1557887
M3 - Article
C2 - 30661415
AN - SCOPUS:85060461766
SN - 1092-9088
VL - 24
SP - 36
EP - 43
JO - Computer Assisted Surgery
JF - Computer Assisted Surgery
IS - sup1
ER -