Sensorless force estimation using a neuro-vision-based approach for robotic-assisted surgery
This paper addresses the issue of lack of force feedback in robotic-assisted minimally invasive surgeries. Force is an important measure for surgeons in order to prevent intra-operative complications and tissue damage. Thus, an innovative neuro-vision based force estimation approach is proposed. Tis...
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| creator | Aviles, Angelica I. Alsaleh, Samar Sobrevilla, Pilar Casals, Alicia |
| description | This paper addresses the issue of lack of force feedback in robotic-assisted minimally invasive surgeries. Force is an important measure for surgeons in order to prevent intra-operative complications and tissue damage. Thus, an innovative neuro-vision based force estimation approach is proposed. Tissue surface displacement is first measured via minimization of an energy functional. A neuro approach is then used to establish a geometric-visual relation and estimate the applied force. The proposed approach eliminates the need of add-on sensors, carrying out biocompatibility studies and is applicable to tissues of any shape. Moreover, we provided an improvement from 15.14% to 56.16% over other approaches which demonstrate the potential of our proposal. |
| doi_str_mv | 10.1109/NER.2015.7146566 |
| format | Conference Proceeding |
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Force is an important measure for surgeons in order to prevent intra-operative complications and tissue damage. Thus, an innovative neuro-vision based force estimation approach is proposed. Tissue surface displacement is first measured via minimization of an energy functional. A neuro approach is then used to establish a geometric-visual relation and estimate the applied force. The proposed approach eliminates the need of add-on sensors, carrying out biocompatibility studies and is applicable to tissues of any shape. Moreover, we provided an improvement from 15.14% to 56.16% over other approaches which demonstrate the potential of our proposal.</description><identifier>ISSN: 1948-3546</identifier><identifier>ISBN: 1467363898</identifier><identifier>ISBN: 9781467363891</identifier><identifier>EISSN: 1948-3554</identifier><identifier>EISBN: 1467363898</identifier><identifier>EISBN: 9781467363891</identifier><identifier>DOI: 10.1109/NER.2015.7146566</identifier><language>eng</language><publisher>IEEE</publisher><subject>Cirurgia ; Computer-assisted neurosurgery ; Enginyeria biomèdica ; Estimation ; Force ; Instruments ; Minimally invasive surgery ; Robot sensing systems ; Robòtica mèdica ; Sistema nerviós ; Three-dimensional displays ; Àrees temàtiques de la UPC</subject><ispartof>2015 7th International IEEE/EMBS Conference on Neural Engineering (NER), 2016, p.86-89</ispartof><rights>info:eu-repo/semantics/openAccess</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c306t-483ac2e921bc3aa2b6aabe84fc3f3a6b900afcdac71f78b59cd49bdc232a94f73</citedby></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>230,309,310,780,885,4049,4050,26973</link.rule.ids><linktorsrc>$$Uhttps://recercat.cat/handle/2072/340267$$EView_record_in_Consorci_de_Serveis_Universitaris_de_Catalunya_(CSUC)$$FView_record_in_$$GConsorci_de_Serveis_Universitaris_de_Catalunya_(CSUC)$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>Aviles, Angelica I.</creatorcontrib><creatorcontrib>Alsaleh, Samar</creatorcontrib><creatorcontrib>Sobrevilla, Pilar</creatorcontrib><creatorcontrib>Casals, Alicia</creatorcontrib><title>Sensorless force estimation using a neuro-vision-based approach for robotic-assisted surgery</title><title>2015 7th International IEEE/EMBS Conference on Neural Engineering (NER)</title><addtitle>NER</addtitle><description>This paper addresses the issue of lack of force feedback in robotic-assisted minimally invasive surgeries. Force is an important measure for surgeons in order to prevent intra-operative complications and tissue damage. Thus, an innovative neuro-vision based force estimation approach is proposed. Tissue surface displacement is first measured via minimization of an energy functional. A neuro approach is then used to establish a geometric-visual relation and estimate the applied force. The proposed approach eliminates the need of add-on sensors, carrying out biocompatibility studies and is applicable to tissues of any shape. Moreover, we provided an improvement from 15.14% to 56.16% over other approaches which demonstrate the potential of our proposal.</description><subject>Cirurgia</subject><subject>Computer-assisted neurosurgery</subject><subject>Enginyeria biomèdica</subject><subject>Estimation</subject><subject>Force</subject><subject>Instruments</subject><subject>Minimally invasive surgery</subject><subject>Robot sensing systems</subject><subject>Robòtica mèdica</subject><subject>Sistema nerviós</subject><subject>Three-dimensional displays</subject><subject>Àrees temàtiques de la UPC</subject><issn>1948-3546</issn><issn>1948-3554</issn><isbn>1467363898</isbn><isbn>9781467363891</isbn><isbn>1467363898</isbn><isbn>9781467363891</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2016</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><sourceid>XX2</sourceid><recordid>eNpNkMlKA0EQQNsNjDF3wcv8wMTeppejhLhAUHC5CUN1TU9sienQPSPk751gUA9FLY9XUEXIBaNTxqi9epg_TTll1VQzqSqlDsjZUGihhLHmkIyYlaYUVSWP_oPjXyDVKZnk_EEpZVppbsyIvD37dY5p5XMu2pjQFz534RO6ENdFn8N6WUCx9n2K5VfIw7B0kH1TwGaTIuD7TipSdLELWELOIXcDzX1a-rQ9JyctrLKf7POYvN7MX2Z35eLx9n52vShRUNWV0ghA7i1nDgUAdwrAeSNbFK0A5Syl0GIDqFmrjassNtK6BrngYGWrxZiwn72Ye6yTR58QujpC-Gt2wanmtZCUq51z-eME7329ScPNaVvvPyu-AQ9payQ</recordid><startdate>2016</startdate><enddate>2016</enddate><creator>Aviles, Angelica I.</creator><creator>Alsaleh, Samar</creator><creator>Sobrevilla, Pilar</creator><creator>Casals, Alicia</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers (IEEE)</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope><scope>XX2</scope></search><sort><creationdate>2016</creationdate><title>Sensorless force estimation using a neuro-vision-based approach for robotic-assisted surgery</title><author>Aviles, Angelica I. ; Alsaleh, Samar ; Sobrevilla, Pilar ; Casals, Alicia</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c306t-483ac2e921bc3aa2b6aabe84fc3f3a6b900afcdac71f78b59cd49bdc232a94f73</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2016</creationdate><topic>Cirurgia</topic><topic>Computer-assisted neurosurgery</topic><topic>Enginyeria biomèdica</topic><topic>Estimation</topic><topic>Force</topic><topic>Instruments</topic><topic>Minimally invasive surgery</topic><topic>Robot sensing systems</topic><topic>Robòtica mèdica</topic><topic>Sistema nerviós</topic><topic>Three-dimensional displays</topic><topic>Àrees temàtiques de la UPC</topic><toplevel>online_resources</toplevel><creatorcontrib>Aviles, Angelica I.</creatorcontrib><creatorcontrib>Alsaleh, Samar</creatorcontrib><creatorcontrib>Sobrevilla, Pilar</creatorcontrib><creatorcontrib>Casals, Alicia</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection><collection>Recercat</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Aviles, Angelica I.</au><au>Alsaleh, Samar</au><au>Sobrevilla, Pilar</au><au>Casals, Alicia</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Sensorless force estimation using a neuro-vision-based approach for robotic-assisted surgery</atitle><btitle>2015 7th International IEEE/EMBS Conference on Neural Engineering (NER)</btitle><stitle>NER</stitle><date>2016</date><risdate>2016</risdate><spage>86</spage><epage>89</epage><pages>86-89</pages><issn>1948-3546</issn><eissn>1948-3554</eissn><isbn>1467363898</isbn><isbn>9781467363891</isbn><eisbn>1467363898</eisbn><eisbn>9781467363891</eisbn><abstract>This paper addresses the issue of lack of force feedback in robotic-assisted minimally invasive surgeries. Force is an important measure for surgeons in order to prevent intra-operative complications and tissue damage. Thus, an innovative neuro-vision based force estimation approach is proposed. Tissue surface displacement is first measured via minimization of an energy functional. A neuro approach is then used to establish a geometric-visual relation and estimate the applied force. The proposed approach eliminates the need of add-on sensors, carrying out biocompatibility studies and is applicable to tissues of any shape. Moreover, we provided an improvement from 15.14% to 56.16% over other approaches which demonstrate the potential of our proposal.</abstract><pub>IEEE</pub><doi>10.1109/NER.2015.7146566</doi><tpages>4</tpages><oa>free_for_read</oa></addata></record> |
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| identifier | ISSN: 1948-3546 |
| ispartof | 2015 7th International IEEE/EMBS Conference on Neural Engineering (NER), 2016, p.86-89 |
| issn | 1948-3546 1948-3554 |
| language | eng |
| recordid | cdi_csuc_recercat_oai_recercat_cat_2072_340267 |
| source | Recercat |
| subjects | Cirurgia Computer-assisted neurosurgery Enginyeria biomèdica Estimation Force Instruments Minimally invasive surgery Robot sensing systems Robòtica mèdica Sistema nerviós Three-dimensional displays Àrees temàtiques de la UPC |
| title | Sensorless force estimation using a neuro-vision-based approach for robotic-assisted surgery |
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