Sensorless force estimation using a neuro-vision-based approach for robotic-assisted surgery
Document typeConference lecture
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessOpen Access
This paper addresses the issue of lack of force feedback in robotic-assisted minimally invasive surgeries. Force is an important measure for surgeons in order to prevent intra-operative complications and tissue damage. Thus, an innovative neuro-vision based force estimation approach is proposed. Tissue surface displacement is first measured via minimization of an energy functional. A neuro approach is then used to establish a geometric-visual relation and estimate the applied force. The proposed approach eliminates the need of add-on sensors, carrying out biocompatibility studies and is applicable to tissues of any shape. Moreover, we provided an improvement from 15.14% to 56.16% over other approaches which demonstrate the potential of our proposal
CitationAviles, A., Alsaleh, S., Sobrevilla, P., Casals, A. Sensorless force estimation using a neuro-vision-based approach for robotic-assisted surgery. A: International IEEE/EMBS Conference on Neural Engineering. "2015 7th International IEEE/EMBS Conference on Neural Engineering (NER 2015): Montpellier, France, 22-24 April 2015". Montpeller: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 86-89.