TY - GEN
T1 - Towards a Method to Provide Tactile Feedback in Minimally Invasive Robotic Surgery
AU - Govalla, Dema
AU - Rozenblit, Jerzy
N1 - Publisher Copyright: © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - This paper proposes a concept to generate tactile feedback for surgeons during robot-assisted surgery. The prototype used to obtain such feedback consists of two strain gauges installed on the outer jaws of scissors’ forceps. The prototype imitates the jaw of a robotic instrument grasper used in the state-of-the-art da Vinci Surgical System. Sensor data of the strain gauges are used to detect the deformation of an object during a series of experiments. The data is categorized into three attributes: Average, Range, and Most-Frequent. These attributes are used to develop a fuzzy classification system (FCS). The FCS classifies objects into five different deformation categories: very soft, soft, medium, hard, and very hard. The sensing prototype and FCS have been validated using a series of physical experiments with a variety of objects. The tests reveal that the proposed method is feasible.
AB - This paper proposes a concept to generate tactile feedback for surgeons during robot-assisted surgery. The prototype used to obtain such feedback consists of two strain gauges installed on the outer jaws of scissors’ forceps. The prototype imitates the jaw of a robotic instrument grasper used in the state-of-the-art da Vinci Surgical System. Sensor data of the strain gauges are used to detect the deformation of an object during a series of experiments. The data is categorized into three attributes: Average, Range, and Most-Frequent. These attributes are used to develop a fuzzy classification system (FCS). The FCS classifies objects into five different deformation categories: very soft, soft, medium, hard, and very hard. The sensing prototype and FCS have been validated using a series of physical experiments with a variety of objects. The tests reveal that the proposed method is feasible.
KW - Haptic feedback
KW - Robotic minimally invasive surgery
KW - Strain gauge
KW - Tactile feedback
UR - https://www.scopus.com/pages/publications/85151165484
UR - https://www.scopus.com/pages/publications/85151165484#tab=citedBy
U2 - 10.1007/978-3-031-25312-6_58
DO - 10.1007/978-3-031-25312-6_58
M3 - Conference contribution
SN - 9783031253119
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 496
EP - 503
BT - Computer Aided Systems Theory – EUROCAST 2022 - 18th International Conference, Revised Selected Papers
A2 - Moreno-Díaz, Roberto
A2 - Pichler, Franz
A2 - Quesada-Arencibia, Alexis
PB - Springer Science and Business Media Deutschland GmbH
T2 - 18th International Conference on Computer Aided Systems Theory, EUROCAST 2022
Y2 - 20 February 2022 through 25 February 2022
ER -