Sensorless Force Sensing for Minimally Invasive Surgery.
Identifieur interne : 000236 ( PubMed/Checkpoint ); précédent : 000235; suivant : 000237Sensorless Force Sensing for Minimally Invasive Surgery.
Auteurs : Baoliang Zhao [Oman] ; Carl A. Nelson [États-Unis]Source :
- Journal of medical devices [ 1932-6181 ] ; 2015.
Abstract
Robotic minimally invasive surgery (R-MIS) has achieved success in various procedures; however, the lack of haptic feedback is considered by some to be a limiting factor. The typical method to acquire tool-tissue reaction forces is attaching force sensors on surgical tools, but this complicates sterilization and makes the tool bulky. This paper explores the feasibility of using motor current to estimate tool-tissue forces and demonstrates acceptable results in terms of time delay and accuracy. This sensorless force estimation method sheds new light on the possibility of equipping existing robotic surgical systems with haptic interfaces that require no sensors and are compatible with existing sterilization methods.
DOI: 10.1115/1.4031282
PubMed: 27222680
Affiliations:
Links toward previous steps (curation, corpus...)
Links to Exploration step
pubmed:27222680Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Sensorless Force Sensing for Minimally Invasive Surgery.</title><author><name sortKey="Zhao, Baoliang" sort="Zhao, Baoliang" uniqKey="Zhao B" first="Baoliang" last="Zhao">Baoliang Zhao</name><affiliation wicri:level="1"><nlm:affiliation>Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68508 e-mail: baoliang.zhao2@gmail.com.</nlm:affiliation><country wicri:rule="url">Oman</country><wicri:regionArea>Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln</wicri:regionArea><wicri:noRegion>Lincoln</wicri:noRegion></affiliation></author><author><name sortKey="Nelson, Carl A" sort="Nelson, Carl A" uniqKey="Nelson C" first="Carl A" last="Nelson">Carl A. Nelson</name><affiliation wicri:level="1"><nlm:affiliation>Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68508 e-mail: cnelson5@unl.edu.</nlm:affiliation><country wicri:rule="url">États-Unis</country><wicri:regionArea>Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln</wicri:regionArea><wicri:noRegion>Lincoln</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2015">2015</date><idno type="doi">10.1115/1.4031282</idno><idno type="RBID">pubmed:27222680</idno><idno type="pmid">27222680</idno><idno type="wicri:Area/PubMed/Corpus">000013</idno><idno type="wicri:Area/PubMed/Curation">000013</idno><idno type="wicri:Area/PubMed/Checkpoint">000236</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Sensorless Force Sensing for Minimally Invasive Surgery.</title><author><name sortKey="Zhao, Baoliang" sort="Zhao, Baoliang" uniqKey="Zhao B" first="Baoliang" last="Zhao">Baoliang Zhao</name><affiliation wicri:level="1"><nlm:affiliation>Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68508 e-mail: baoliang.zhao2@gmail.com.</nlm:affiliation><country wicri:rule="url">Oman</country><wicri:regionArea>Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln</wicri:regionArea><wicri:noRegion>Lincoln</wicri:noRegion></affiliation></author><author><name sortKey="Nelson, Carl A" sort="Nelson, Carl A" uniqKey="Nelson C" first="Carl A" last="Nelson">Carl A. Nelson</name><affiliation wicri:level="1"><nlm:affiliation>Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68508 e-mail: cnelson5@unl.edu.</nlm:affiliation><country wicri:rule="url">États-Unis</country><wicri:regionArea>Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln</wicri:regionArea><wicri:noRegion>Lincoln</wicri:noRegion></affiliation></author></analytic><series><title level="j">Journal of medical devices</title><idno type="ISSN">1932-6181</idno><imprint><date when="2015" type="published">2015</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Robotic minimally invasive surgery (R-MIS) has achieved success in various procedures; however, the lack of haptic feedback is considered by some to be a limiting factor. The typical method to acquire tool-tissue reaction forces is attaching force sensors on surgical tools, but this complicates sterilization and makes the tool bulky. This paper explores the feasibility of using motor current to estimate tool-tissue forces and demonstrates acceptable results in terms of time delay and accuracy. This sensorless force estimation method sheds new light on the possibility of equipping existing robotic surgical systems with haptic interfaces that require no sensors and are compatible with existing sterilization methods.</div></front></TEI><pubmed><MedlineCitation Status="Publisher" Owner="NLM"><PMID Version="1">27222680</PMID><DateCreated><Year>2016</Year><Month>5</Month><Day>25</Day></DateCreated><DateRevised><Year>2016</Year><Month>5</Month><Day>27</Day></DateRevised><Article PubModel="Print-Electronic"><Journal><ISSN IssnType="Print">1932-6181</ISSN><JournalIssue CitedMedium="Print"><Volume>9</Volume><Issue>4</Issue><PubDate><Year>2015</Year><Month>Dec</Month></PubDate></JournalIssue><Title>Journal of medical devices</Title><ISOAbbreviation>J Med Device</ISOAbbreviation></Journal><ArticleTitle>Sensorless Force Sensing for Minimally Invasive Surgery.</ArticleTitle><Pagination><MedlinePgn>0410121-4101214</MedlinePgn></Pagination><Abstract><AbstractText NlmCategory="UNASSIGNED">Robotic minimally invasive surgery (R-MIS) has achieved success in various procedures; however, the lack of haptic feedback is considered by some to be a limiting factor. The typical method to acquire tool-tissue reaction forces is attaching force sensors on surgical tools, but this complicates sterilization and makes the tool bulky. This paper explores the feasibility of using motor current to estimate tool-tissue forces and demonstrates acceptable results in terms of time delay and accuracy. This sensorless force estimation method sheds new light on the possibility of equipping existing robotic surgical systems with haptic interfaces that require no sensors and are compatible with existing sterilization methods.</AbstractText></Abstract><AuthorList><Author><LastName>Zhao</LastName><ForeName>Baoliang</ForeName><Initials>B</Initials><AffiliationInfo><Affiliation>Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68508 e-mail: baoliang.zhao2@gmail.com.</Affiliation></AffiliationInfo></Author><Author><LastName>Nelson</LastName><ForeName>Carl A</ForeName><Initials>CA</Initials><AffiliationInfo><Affiliation>Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68508 e-mail: cnelson5@unl.edu.</Affiliation></AffiliationInfo></Author></AuthorList><Language>ENG</Language><PublicationTypeList><PublicationType UI="">JOURNAL ARTICLE</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2015</Year><Month>10</Month><Day>15</Day></ArticleDate></Article><MedlineJournalInfo><MedlineTA>J Med Device</MedlineTA><NlmUniqueID>101299321</NlmUniqueID><ISSNLinking>1932-6181</ISSNLinking></MedlineJournalInfo><KeywordList Owner="NOTNLM"><Keyword MajorTopicYN="N">force feedback</Keyword><Keyword MajorTopicYN="N">robotic minimally invasive surgery</Keyword><Keyword MajorTopicYN="N">sensorless force estimation</Keyword></KeywordList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="received"><Year>2015</Year><Month>1</Month><Day>22</Day></PubMedPubDate><PubMedPubDate PubStatus="revised"><Year>2015</Year><Month>7</Month><Day>28</Day></PubMedPubDate><PubMedPubDate PubStatus="epublish"><Year>2015</Year><Month>10</Month><Day>15</Day></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2016</Year><Month>5</Month><Day>26</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2016</Year><Month>5</Month><Day>26</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2016</Year><Month>5</Month><Day>26</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pmc-release"><Year>2016</Year><Month>12</Month><Day>1</Day><Hour>0</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1115/1.4031282</ArticleId><ArticleId IdType="pii">MED-15-1015</ArticleId><ArticleId IdType="pubmed">27222680</ArticleId><ArticleId IdType="pmc">PMC4844080</ArticleId></ArticleIdList><pmc-dir>pmcsd</pmc-dir>
</PubmedData></pubmed><affiliations><list><country><li>Oman</li><li>États-Unis</li></country></list><tree><country name="Oman"><noRegion><name sortKey="Zhao, Baoliang" sort="Zhao, Baoliang" uniqKey="Zhao B" first="Baoliang" last="Zhao">Baoliang Zhao</name></noRegion></country><country name="États-Unis"><noRegion><name sortKey="Nelson, Carl A" sort="Nelson, Carl A" uniqKey="Nelson C" first="Carl A" last="Nelson">Carl A. Nelson</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PubMed/Checkpoint
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000236 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PubMed/Checkpoint/biblio.hfd -nk 000236 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= PubMed
|étape= Checkpoint
|type= RBID
|clé= pubmed:27222680
|texte= Sensorless Force Sensing for Minimally Invasive Surgery.
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/PubMed/Checkpoint/RBID.i -Sk "pubmed:27222680" \
| HfdSelect -Kh $EXPLOR_AREA/Data/PubMed/Checkpoint/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |