A Novel Intraoperative Force Estimation Method via Electrical Bioimpedance Sensing

Zhuoqi Cheng*, Leonardo S. Mattos

*Kontaktforfatter

Publikation: Kapitel i bog/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Abstract

During minimally invasive robotic surgery (MIRS), intraoperative force sensing on the surgical tool plays an important role to mitigate the risk of inadvertent tissue damage. This study proposes a novel method for estimating the force exerted by the surgical tool tip based on the electrical bioimpedance (EBI) of the contacting tissue. When the surgical tool is pressing on the tissue, the tissue is deformed corresponding to the exerted force. Meanwhile, the measured EBI value changes accordingly since tissue deformations change the contact area between the tool and the tissue. An ex-vivo experimental study was performed and different machine learning methods were tested for correlating the exerted force and the EBI values. The experimental results show that a Feed-forward Multi-layer Neural Network (F-MNN) can provide good results in terms of efficiency and accuracy. The exerted force on the tissue can be accurately estimated with a median error of 0.072 N and with about 7 ms testing time. In addition, the proposed method has significant advantages over other techniques since it requires little hardware modification and allows fast and seamless integration with the existing surgical robotic system.
OriginalsprogEngelsk
TitelAdvances in Service and Industrial Robotics : RAAD 2023
RedaktørerTadej Petrič, Aleš Ude, Leon Žlajpah
ForlagSpringer
Publikationsdato2023
Sider213–220
ISBN (Trykt)978-3-031-32605-9
ISBN (Elektronisk)978-3-031-32606-6
DOI
StatusUdgivet - 2023
Begivenhed32nd International Conference on Robotics in Alpe-Adria-Danube Region - Bled, Slovenien
Varighed: 14. jun. 202316. jun. 2023

Konference

Konference32nd International Conference on Robotics in Alpe-Adria-Danube Region
Land/OmrådeSlovenien
ByBled
Periode14/06/202316/06/2023
NavnMechanisms and Machine Science
ISSN2211-0984

Fingeraftryk

Dyk ned i forskningsemnerne om 'A Novel Intraoperative Force Estimation Method via Electrical Bioimpedance Sensing'. Sammen danner de et unikt fingeraftryk.

Citationsformater