Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks

A new algorithm is proposed to estimate the tool-tissue force interaction in robot-assisted minimally invasive surgery which does not require the use of external force sensing. The proposed method utilizes the current of the motors of the surgical instrument and neural network methods to estimate th...

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Detalhes bibliográficos
Publicado no:Front Robot AI
Main Authors: Abeywardena, Sajeeva, Yuan, Qiaodi, Tzemanaki, Antonia, Psomopoulou, Efi, Droukas, Leonidas, Melhuish, Chris, Dogramadzi, Sanja
Formato: Artigo
Idioma:Inglês
Publicado em: Frontiers Media S.A. 2019
Assuntos:
Robotics and AI
Acesso em linha:https://ncbi.nlm.nih.gov/pmc/articles/PMC7805956/
https://ncbi.nlm.nih.gov/pubmed/33501071
https://ncbi.nlm.nih.govhttp://dx.doi.org/10.3389/frobt.2019.00056
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