Novel uniaxial force sensor based on visual information for minimally invasive surgery

A. Faragasso; J. Bimbo; Y. Noh; A. Jiang; S. Sareh; H Liu; T. Nanayakkara; H. A. Wurdemann; K. Althoefer

doi:10.1109/ICRA.2014.6907036

Novel uniaxial force sensor based on visual information for minimally invasive surgery

A. Faragasso, J. Bimbo, Y. Noh, A. Jiang, S. Sareh, H Liu, T. Nanayakkara, H. A. Wurdemann, K. Althoefer

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

36 Citations (Scopus)

Abstract

This paper presents an innovative approach of utilising visual feedback to determine physical interaction forces with soft tissue during Minimally Invasive Surgery (MIS). This novel force sensing device is composed of a linear retractable mechanism and a spherical visual feature. The sensor mechanism can be adapted to endoscopic cameras used in MIS. As the distance between the camera and feature varies due to the sliding joint, interaction forces with anatomical surfaces can be computed based on the visual appearance of the feature in the image. Hence, this device allows the measurement of forces without introducing new stand-alone sensors. A mathematical model was derived based on validation data tests and preliminary experiments were conducted to verify the model's accuracy. Experimental results confirm the effectiveness of our vision based approach.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1405-1410
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2014.6907036
Publication status	Published - 22 Sept 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	31/05/2014 → 7/06/2014

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10.1109/ICRA.2014.6907036

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Faragasso, A., Bimbo, J., Noh, Y., Jiang, A., Sareh, S., Liu, H., Nanayakkara, T., Wurdemann, H. A., & Althoefer, K. (2014). Novel uniaxial force sensor based on visual information for minimally invasive surgery. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1405-1410). Article 6907036 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907036

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title = "Novel uniaxial force sensor based on visual information for minimally invasive surgery",

abstract = "This paper presents an innovative approach of utilising visual feedback to determine physical interaction forces with soft tissue during Minimally Invasive Surgery (MIS). This novel force sensing device is composed of a linear retractable mechanism and a spherical visual feature. The sensor mechanism can be adapted to endoscopic cameras used in MIS. As the distance between the camera and feature varies due to the sliding joint, interaction forces with anatomical surfaces can be computed based on the visual appearance of the feature in the image. Hence, this device allows the measurement of forces without introducing new stand-alone sensors. A mathematical model was derived based on validation data tests and preliminary experiments were conducted to verify the model's accuracy. Experimental results confirm the effectiveness of our vision based approach.",

author = "A. Faragasso and J. Bimbo and Y. Noh and A. Jiang and S. Sareh and H Liu and T. Nanayakkara and Wurdemann, {H. A.} and K. Althoefer",

year = "2014",

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doi = "10.1109/ICRA.2014.6907036",

language = "English",

pages = "1405--1410",

booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

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note = "2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",

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Faragasso, A , Bimbo, J , Noh, Y , Jiang, A , Sareh, S , Liu, H , Nanayakkara, T , Wurdemann, HA & Althoefer, K 2014, Novel uniaxial force sensor based on visual information for minimally invasive surgery. in Proceedings - IEEE International Conference on Robotics and Automation., 6907036, Institute of Electrical and Electronics Engineers Inc., pp. 1405-1410, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/2014. https://doi.org/10.1109/ICRA.2014.6907036

Novel uniaxial force sensor based on visual information for minimally invasive surgery. / Faragasso, A.; Bimbo, J.; Noh, Y. et al.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1405-1410 6907036.

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

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AU - Faragasso, A.

AU - Bimbo, J.

AU - Noh, Y.

AU - Jiang, A.

AU - Sareh, S.

AU - Liu, H

AU - Nanayakkara, T.

AU - Wurdemann, H. A.

AU - Althoefer, K.

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N2 - This paper presents an innovative approach of utilising visual feedback to determine physical interaction forces with soft tissue during Minimally Invasive Surgery (MIS). This novel force sensing device is composed of a linear retractable mechanism and a spherical visual feature. The sensor mechanism can be adapted to endoscopic cameras used in MIS. As the distance between the camera and feature varies due to the sliding joint, interaction forces with anatomical surfaces can be computed based on the visual appearance of the feature in the image. Hence, this device allows the measurement of forces without introducing new stand-alone sensors. A mathematical model was derived based on validation data tests and preliminary experiments were conducted to verify the model's accuracy. Experimental results confirm the effectiveness of our vision based approach.

AB - This paper presents an innovative approach of utilising visual feedback to determine physical interaction forces with soft tissue during Minimally Invasive Surgery (MIS). This novel force sensing device is composed of a linear retractable mechanism and a spherical visual feature. The sensor mechanism can be adapted to endoscopic cameras used in MIS. As the distance between the camera and feature varies due to the sliding joint, interaction forces with anatomical surfaces can be computed based on the visual appearance of the feature in the image. Hence, this device allows the measurement of forces without introducing new stand-alone sensors. A mathematical model was derived based on validation data tests and preliminary experiments were conducted to verify the model's accuracy. Experimental results confirm the effectiveness of our vision based approach.

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Novel uniaxial force sensor based on visual information for minimally invasive surgery

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