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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Bibliografske podrobnosti
izdano v:Front Robot AI
Main Authors: Abeywardena, Sajeeva, Yuan, Qiaodi, Tzemanaki, Antonia, Psomopoulou, Efi, Droukas, Leonidas, Melhuish, Chris, Dogramadzi, Sanja
Format: Artigo
Jezik:Inglês
Izdano: Frontiers Media S.A. 2019
Teme:
Robotics and AI
Online dostop: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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