Evaluation of Sensor Configurations for Robotic Surgical Instruments
Identifieur interne : 000386 ( Pmc/Corpus ); précédent : 000385; suivant : 000387Evaluation of Sensor Configurations for Robotic Surgical Instruments
Auteurs : Jesús M. G Mez-De-Gabriel ; 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
Links to Exploration step
PMC:4634404***** Acces problem to record *****\Le document en format XML
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Pmc/Corpus
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000386 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Pmc/Corpus/biblio.hfd -nk 000386 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= Pmc |étape= Corpus |type= RBID |clé= PMC:4634404 |texte= Evaluation of Sensor Configurations for Robotic Surgical Instruments }}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Pmc/Corpus/RBID.i -Sk "pubmed:26516863" \ | HfdSelect -Kh $EXPLOR_AREA/Data/Pmc/Corpus/biblio.hfd \ | NlmPubMed2Wicri -a HapticV1
This area was generated with Dilib version V0.6.23. |