Sensorless force estimation using a neuro-vision-based approach for robotic-assisted surgery
Tipo de documentoComunicación de congreso
Fecha de publicación2016
EditorInstitute of Electrical and Electronics Engineers (IEEE)
Condiciones de accesoAcceso abierto
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
CitaciónAviles, 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.
Versión del editorhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7146566