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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Detalles Bibliográficos
Publicado en:Front Robot AI
Autores principales: Abeywardena, Sajeeva, Yuan, Qiaodi, Tzemanaki, Antonia, Psomopoulou, Efi, Droukas, Leonidas, Melhuish, Chris, Dogramadzi, Sanja
Formato: Artigo
Lenguaje:Inglês
Publicado: Frontiers Media S.A. 2019
Materias:
Robotics and AI
Acceso en línea: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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