Evaluation of Sensor Configurations for Robotic Surgical Instruments
Identifieur interne : 000906 ( Main/Merge ); précédent : 000905; suivant : 000907Evaluation of Sensor Configurations for Robotic Surgical Instruments
Auteurs : Jesús M. G Mez-De-Gabriel [Espagne] ; William HarwinSource :
- Sensors (Basel, Switzerland) [ 1424-8220 ] ; 2015.
Abstract
Designing surgical instruments for robotic-assisted minimally-invasive surgery (RAMIS) is challenging due to constraints on the number and type of sensors imposed by considerations such as space or the need for sterilization. A new method for evaluating the usability of virtual teleoperated surgical instruments based on virtual sensors is presented. This method uses virtual prototyping of the surgical instrument with a dual physical interaction, which allows testing of different sensor configurations in a real environment. Moreover, the proposed approach has been applied to the evaluation of prototypes of a two-finger grasper for lump detection by remote pinching. In this example, the usability of a set of five different sensor configurations, with a different number of force sensors, is evaluated in terms of quantitative and qualitative measures in clinical experiments with 23 volunteers. As a result, the smallest number of force sensors needed in the surgical instrument that ensures the usability of the device can be determined. The details of the experimental setup are also included.
Url:
DOI: 10.3390/s151027341
PubMed: 26516863
PubMed Central: 4634404
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G Mez-De-Gabriel</name><affiliation wicri:level="4"><nlm:aff id="af1-sensors-15-27341">Departamento de Ingeniería de Sistemas y Automática, Universidad de Málaga, Calle Dr. Ortiz Ramos, 29071 Málaga, Spain</nlm:aff><country xml:lang="fr">Espagne</country><wicri:regionArea>Departamento de Ingeniería de Sistemas y Automática, Universidad de Málaga, Calle Dr. Ortiz Ramos, 29071 Málaga</wicri:regionArea><placeName><region nuts="2" type="communauté">Andalousie</region></placeName><orgName type="university">Université de Malaga</orgName></affiliation></author><author><name sortKey="Harwin, William" sort="Harwin, William" uniqKey="Harwin W" first="William" last="Harwin">William Harwin</name><affiliation><nlm:aff id="af2-sensors-15-27341">School of Systems Engineering, University of Reading, Whiteknights, RG6-6AY Reading, Berkshire, UK; E-Mail:<email>w.s.harwin@reading.ac.uk</email></nlm:aff></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">26516863</idno><idno type="pmc">4634404</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4634404</idno><idno type="RBID">PMC:4634404</idno><idno type="doi">10.3390/s151027341</idno><date when="2015">2015</date><idno type="wicri:Area/Pmc/Corpus">000386</idno><idno type="wicri:Area/Pmc/Curation">000386</idno><idno type="wicri:Area/Pmc/Checkpoint">000589</idno><idno type="wicri:Area/Ncbi/Merge">003D26</idno><idno type="wicri:Area/Ncbi/Curation">003D26</idno><idno type="wicri:Area/Ncbi/Checkpoint">003D26</idno><idno type="wicri:Area/Main/Merge">000906</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Evaluation of Sensor Configurations for Robotic Surgical Instruments</title><author><name sortKey="G Mez De Gabriel, Jesus M" sort="G Mez De Gabriel, Jesus M" uniqKey="G Mez De Gabriel J" first="Jesús M." last="G Mez-De-Gabriel">Jesús M. G Mez-De-Gabriel</name><affiliation wicri:level="4"><nlm:aff id="af1-sensors-15-27341">Departamento de Ingeniería de Sistemas y Automática, Universidad de Málaga, Calle Dr. Ortiz Ramos, 29071 Málaga, Spain</nlm:aff><country xml:lang="fr">Espagne</country><wicri:regionArea>Departamento de Ingeniería de Sistemas y Automática, Universidad de Málaga, Calle Dr. Ortiz Ramos, 29071 Málaga</wicri:regionArea><placeName><region nuts="2" type="communauté">Andalousie</region></placeName><orgName type="university">Université de Malaga</orgName></affiliation></author><author><name sortKey="Harwin, William" sort="Harwin, William" uniqKey="Harwin W" first="William" last="Harwin">William Harwin</name><affiliation><nlm:aff id="af2-sensors-15-27341">School of Systems Engineering, University of Reading, Whiteknights, RG6-6AY Reading, Berkshire, UK; E-Mail:<email>w.s.harwin@reading.ac.uk</email></nlm:aff></affiliation></author></analytic><series><title level="j">Sensors (Basel, Switzerland)</title><idno type="eISSN">1424-8220</idno><imprint><date when="2015">2015</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>Designing surgical instruments for robotic-assisted minimally-invasive surgery (RAMIS) is challenging due to constraints on the number and type of sensors imposed by considerations such as space or the need for sterilization. A new method for evaluating the usability of virtual teleoperated surgical instruments based on virtual sensors is presented. This method uses virtual prototyping of the surgical instrument with a dual physical interaction, which allows testing of different sensor configurations in a real environment. Moreover, the proposed approach has been applied to the evaluation of prototypes of a two-finger grasper for lump detection by remote pinching. In this example, the usability of a set of five different sensor configurations, with a different number of force sensors, is evaluated in terms of quantitative and qualitative measures in clinical experiments with 23 volunteers. As a result, the smallest number of force sensors needed in the surgical instrument that ensures the usability of the device can be determined. 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