Academic Journal
Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks
| العنوان: | Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks |
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| المؤلفون: | Sajeeva Abeywardena, Qiaodi Yuan, Antonia Tzemanaki, Efi Psomopoulou, Leonidas Droukas, Chris Melhuish, Sanja Dogramadzi |
| المصدر: | Frontiers in Robotics and AI, Vol 6 (2019) |
| بيانات النشر: | Frontiers Media S.A., 2019. |
| سنة النشر: | 2019 |
| المجموعة: | LCC:Mechanical engineering and machinery LCC:Electronic computers. Computer science |
| مصطلحات موضوعية: | sensor-less sensing, neural networks, minimally invasive surgery, haptic feedback, force estimation, Mechanical engineering and machinery, TJ1-1570, Electronic computers. Computer science, QA75.5-76.95 |
| الوصف: | 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 the force interaction. Offline and online testing is conducted to assess the feasibility of the developed algorithm. Results showed that the developed method has promise in allowing online estimation of tool-tissue force and could thus enable haptic feedback in robotic surgery to be provided. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2296-9144 |
| Relation: | https://www.frontiersin.org/article/10.3389/frobt.2019.00056/full; https://doaj.org/toc/2296-9144 |
| DOI: | 10.3389/frobt.2019.00056 |
| URL الوصول: | https://doaj.org/article/02db63e1e4394e74b37bfd1e59b2e6aa |
| رقم الانضمام: | edsdoj.02db63e1e4394e74b37bfd1e59b2e6aa |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 22969144 |
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| DOI: | 10.3389/frobt.2019.00056 |