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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Bibliografische gegevens
Gepubliceerd in:Front Robot AI
Hoofdauteurs: Abeywardena, Sajeeva, Yuan, Qiaodi, Tzemanaki, Antonia, Psomopoulou, Efi, Droukas, Leonidas, Melhuish, Chris, Dogramadzi, Sanja
Formaat: Artigo
Taal:Inglês
Gepubliceerd in: Frontiers Media S.A. 2019
Onderwerpen:
Robotics and AI
Online toegang: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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