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Epidural space insertion is a common needle surgery for regional anaesthesia, such as labor pain relief and lower extremity surgery. But detection of needle entry into epidural space can be difficult, which currently is highly depended on a hand-feeling skill named loss-of-resistance (LOR). To provide the clinicians with a better real-time visual signal, this paper presents a novel tip force sensing...
Percutaneous therapy is a common clinical operation in minimally invasive surgery. Yet, learning curve of this skillful manual operation is steep, which imposes negative impacts on its further advances. In this paper, we proposed a novel workflow to simulate percutaneous therapy through visuo-haptic rendering based on the clinical trials. Intraoperative puncture data, obtained by our 6DOF force recording...
Master-slave surgical robots have been studied and developed to support surgeons. Robotic functions such as motion scaling and hand shaking correction can extend the ability of surgeons. However, some problems are remaining in robotic surgery. Operation time which can become the burden to surgeons is still long. Surgeons must assess the situation, decide the next task correctly, and achieve tasks...
This paper presents the closed loop teleoperation of a minimal surgery training system using haptic and robot devices. The force tracking performances of system can be improved by using dynamic compensation and fuzzy control. In this system, the master is the 6-DOF haptic device and the slave is the 6-DOF serial robot. The master haptic device provides the trajectories for the slave serial robot throught...
Cornea transplantation surgery needs a highly skilled ophthalmologist due to the requirement of precise positioning and the plasticity of a cornea. In this paper, we propose a cornea holding device, which fixes the relative position between a donor cornea and a patient cornea. The proposed device prevents the slipping or deformation of the corneas during transplantation surgery. The cornea holder...
Robotic-assisted surgery requires an intuitive and effective human-machine interface. Providing haptic feedback for pinching and dissecting motions of bipolar forceps, a tool commonly used in neurosurgery, could potentially improve the surgeon's experience. Current haptic hand controllers have limited actuation and feedback capability, requiring surgeons to hold the handle differently compared to...
Robot-assisted minimally invasive surgery becomes more and more popular, but the lack of force sensing for surgical robots restricts the development of this technology. The traditional way to obtain tool-tissue interaction force is to integrate sensors at the end of surgical instruments, which is not well adopted in practical due to high-cost and sterilization problems. It is necessary to explore...
This paper presents a novel method— asymmetric dual-user shared control method and makes a proof of the stability conditions of the novel method with time delay. Firstly, we model the novel dual-user shared control architecture with multi-dominance factors, considering the influence between the slave and masters respectively. Then, the system is divided into three paralleling subsystems, and the system...
The technical skills of surgeons directly affect patient outcomes, yet how to train surgeons in a way that maximizes their learning speed and optimizes their performance is an open question. Recent studies in human motor learning have shown benefits of using force fields during training in point-to-point reaching tasks. Teleoperation systems enable the application of these force fields during the...
This study was aimed to prove the conceptual basis of a new sensing principle, capable of characterizing the viscoelastic properties of beating myocardial tissue. In this regard, a sensing principle based on the spontaneous contact between the beating cardiac wall and a force-displacement sensor was proposed. A multi-parameter, mass-spring mechanical model of myocardial tissue was proposed. A series...
Haptic feedback is often employed in medical simulators, with the goal to improve user interaction and the training outcome. One option for providing touch sensations is using passive haptics, by including actual physical mock-ups of the anatomical objects in the simulated scene. While this approach has advantages, the usual one-to-one mapping between virtual and physical objects is a fundamental...
Over time, surgical trainees learn to compensate for the lack of haptic feedback in commercial robotic minimally invasive surgical systems. Incorporating touch cues into robotic surgery training could potentially shorten this learning process if the benefits of haptic feedback were sustained after it is removed. In this paper, we develop a wrist-squeezing haptic feedback system and evaluate whether...
This paper briefly present a new device concept, namely Exofinger, for patients recovering from finger tendon injuries. The goal of this device is to perform repetitive motions of flexing and extending the injured fingers for the patient with ease. Although the current device is still in prototype phase and lack human trials, it is able to perform well and has a huge potential for finger blocking...
In spite of the remarkable benefits that minimally invasive surgery provides for patients, the absence of force feedback is still a significant disadvantage. Several studies have been performed to address this issue; however, an accurate sterilizable force sensing technology for measuring axial and grasping forces is still missing. In this work, an innovative partial grasper has been designed and...
Blood simulation is an important part in the virtual surgery training system. However, the huge computational complexity and authenticity of blood simulation is of great challenge to the surgical training system. In this paper, a simulation method based on GPU-accelerated is used for blood simulation in surgical training system. The grid method is used to divide the target area, create space grid...
Robotic camera systems have recently drawn attention in minimally invasive surgeries(MIS). Control and manipulation of these systems during traversing abdominal cavity is associated with camera-tissue interaction. This paper demonstrates a theoretical and experimental analysis of a wireless laparoscopic camera's interaction with abdominal wall during MIS. A mechanical model is developed to represent...
Since the minimally invasive surgery robot(MISR) has been widely used in hospitals, people pay more and more attention to the safety of minimally invasive surgery. Based on the analysis of security requirements for medical robots, a novel safety design is proposed. The principle and equivalent stiffness of the safety design was researched by the use of analytical method. In the paper, a kind of safety...
We developed a MEMS 6-axis force-torque sensor attached to the tip of grasping forceps for identification of tumor in thoracoscopic surgery. To validate the grasping forceps with sensors, the gelatin in which a silicone sphere was embedded was grasped with it and the variations in 3-axis force and 3-axis torque depending on grasping positions were measured. The size of the embedded hard object in...
This work contributes towards the vision of a suture platform that is able to objectively quantify suturing skill by integrating data from multiple sensing modalities. A first step towards such a platform is the synchronization of data from multiple sensor streams and perhaps even multiple systems. We present the design of a novel suture platform with force and motion sensors as well as video capture...
The aim of this work is to integrate a soft-rigid collision detection algorithm in the open source physics engine Bullet Physics. In surgical applications these types of collisions occur, for example, when a clamp grabs deformable organic material or a spatula opens a brain fissure. The goal is to handle the collision between the soft body (deformable organ) and the rigid body (surgical tool), assuming...
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