Pneumatically driven surgical instrument capable of estimating translational force and grasping force
Background: In robot‐assisted minimally invasive surgery, feedback as well as sensing of translational and grasping forces allows surgeons to manipulate the robots using an appropriate force. However, there have been limited reports on single instruments capable of sensing both forces (translational...
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| Veröffentlicht in: | The international journal of medical robotics + computer assisted surgery 2019-06, Vol.15 (3), p.e1983-n/a |
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| container_issue | 3 |
| container_start_page | e1983 |
| container_title | The international journal of medical robotics + computer assisted surgery |
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| creator | Miyazaki, Ryoken Kanno, Takahiro Kawashima, Kenji |
| description | Background: In robot‐assisted minimally invasive surgery, feedback as well as sensing of translational and grasping forces allows surgeons to manipulate the robots using an appropriate force. However, there have been limited reports on single instruments capable of sensing both forces (translational force and grasping force), with the exception of instruments with electronic sensors.
Methods: In this study, a pneumatically driven surgical instrument capable of estimating both translational and grasping forces is developed. Our estimation method is based on the dynamics and pneumatic pressure changes of the instrument. For each force estimation, we applied a joint mechanism consisting of disks and a flexible backbone and constructed pneumatic driving systems, kinematic models, dynamic models, controller, and force estimator.
Results: We confirmed experimentally that the mean absolute error between the measured forces and the estimated translational and grasping forces is 0.2 N or less for any condition. From these results, it is seen that the mechanical interference between the joint actuation mechanism and grasper actuation mechanism is negligibly small.
Conclusions: A method for estimating both forces was proposed, and experimental results confirmed the effectiveness of the method. |
| doi_str_mv | 10.1002/rcs.1983 |
| format | Article |
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Methods: In this study, a pneumatically driven surgical instrument capable of estimating both translational and grasping forces is developed. Our estimation method is based on the dynamics and pneumatic pressure changes of the instrument. For each force estimation, we applied a joint mechanism consisting of disks and a flexible backbone and constructed pneumatic driving systems, kinematic models, dynamic models, controller, and force estimator.
Results: We confirmed experimentally that the mean absolute error between the measured forces and the estimated translational and grasping forces is 0.2 N or less for any condition. From these results, it is seen that the mechanical interference between the joint actuation mechanism and grasper actuation mechanism is negligibly small.
Conclusions: A method for estimating both forces was proposed, and experimental results confirmed the effectiveness of the method.</description><identifier>ISSN: 1478-5951</identifier><identifier>EISSN: 1478-596X</identifier><identifier>DOI: 10.1002/rcs.1983</identifier><identifier>PMID: 30648783</identifier><language>eng</language><publisher>England: Wiley Subscription Services, Inc</publisher><subject>Actuation ; Biomechanical Phenomena ; CAS ; Computer assisted surgery ; Disks ; Dynamic models ; dynamics ; Equipment Design ; Error analysis ; Estimation ; Feedback ; force estimation ; Grasping (robotics) ; Grasping force ; Humans ; Minimally invasive surgery ; Minimally Invasive Surgical Procedures - instrumentation ; Minimally Invasive Surgical Procedures - methods ; pneumatic‐driven system ; Pressure ; Robotics - instrumentation ; Robotics - methods ; Robots ; Surgical apparatus & instruments ; Surgical Instruments ; surgical robot ; Touch</subject><ispartof>The international journal of medical robotics + computer assisted surgery, 2019-06, Vol.15 (3), p.e1983-n/a</ispartof><rights>2019 John Wiley & Sons, Ltd.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c4153-7f02891ea5f080eee710795148603ca840bbb70d2c554551216ade077bd704793</citedby><cites>FETCH-LOGICAL-c4153-7f02891ea5f080eee710795148603ca840bbb70d2c554551216ade077bd704793</cites><orcidid>0000-0001-7526-9344</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1002%2Frcs.1983$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1002%2Frcs.1983$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>314,776,780,1411,27901,27902,45550,45551</link.rule.ids><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/30648783$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Miyazaki, Ryoken</creatorcontrib><creatorcontrib>Kanno, Takahiro</creatorcontrib><creatorcontrib>Kawashima, Kenji</creatorcontrib><title>Pneumatically driven surgical instrument capable of estimating translational force and grasping force</title><title>The international journal of medical robotics + computer assisted surgery</title><addtitle>Int J Med Robot</addtitle><description>Background: In robot‐assisted minimally invasive surgery, feedback as well as sensing of translational and grasping forces allows surgeons to manipulate the robots using an appropriate force. However, there have been limited reports on single instruments capable of sensing both forces (translational force and grasping force), with the exception of instruments with electronic sensors.
Methods: In this study, a pneumatically driven surgical instrument capable of estimating both translational and grasping forces is developed. Our estimation method is based on the dynamics and pneumatic pressure changes of the instrument. For each force estimation, we applied a joint mechanism consisting of disks and a flexible backbone and constructed pneumatic driving systems, kinematic models, dynamic models, controller, and force estimator.
Results: We confirmed experimentally that the mean absolute error between the measured forces and the estimated translational and grasping forces is 0.2 N or less for any condition. From these results, it is seen that the mechanical interference between the joint actuation mechanism and grasper actuation mechanism is negligibly small.
Conclusions: A method for estimating both forces was proposed, and experimental results confirmed the effectiveness of the method.</description><subject>Actuation</subject><subject>Biomechanical Phenomena</subject><subject>CAS</subject><subject>Computer assisted surgery</subject><subject>Disks</subject><subject>Dynamic models</subject><subject>dynamics</subject><subject>Equipment Design</subject><subject>Error analysis</subject><subject>Estimation</subject><subject>Feedback</subject><subject>force estimation</subject><subject>Grasping (robotics)</subject><subject>Grasping force</subject><subject>Humans</subject><subject>Minimally invasive surgery</subject><subject>Minimally Invasive Surgical Procedures - instrumentation</subject><subject>Minimally Invasive Surgical Procedures - methods</subject><subject>pneumatic‐driven system</subject><subject>Pressure</subject><subject>Robotics - instrumentation</subject><subject>Robotics - methods</subject><subject>Robots</subject><subject>Surgical apparatus & instruments</subject><subject>Surgical Instruments</subject><subject>surgical robot</subject><subject>Touch</subject><issn>1478-5951</issn><issn>1478-596X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2019</creationdate><recordtype>article</recordtype><sourceid>EIF</sourceid><recordid>eNp1kF1LwzAUhoMobk7BXyABb7zpPGmTJruU4RcMFD_Au5Kmp6OjS2fSKvv3pttUELzK4fDk4T0vIacMxgwgvnTGj9lEJXtkyLhUkZikb_s_s2ADcuT9AoALnvJDMkgg5UqqZEjw0WK31G1ldF2vaeGqD7TUd27eb2hlfeu6JdqWGr3SeY20KSn6tur_2Dltnba-DnNjA142ziDVtqBzp_2qBzarY3JQ6trjye4dkdeb65fpXTR7uL2fXs0iw5lIIllCrCYMtShBASJKBjLE5yqFxGjFIc9zCUVshOBCsJilukCQMi8kcDlJRuRi61255r0LMbNl5Q3WtbbYdD6LWYCUkjEP6PkfdNF0LhwRqBiYABay_AqNa7x3WGYrF05364xB1lefheqzvvqAnu2EXb7E4gf87joA0Rb4rGpc_yvKnqbPG-EXQrKNPA</recordid><startdate>201906</startdate><enddate>201906</enddate><creator>Miyazaki, Ryoken</creator><creator>Kanno, Takahiro</creator><creator>Kawashima, Kenji</creator><general>Wiley Subscription Services, Inc</general><scope>CGR</scope><scope>CUY</scope><scope>CVF</scope><scope>ECM</scope><scope>EIF</scope><scope>NPM</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>JQ2</scope><scope>K9.</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>7X8</scope><orcidid>https://orcid.org/0000-0001-7526-9344</orcidid></search><sort><creationdate>201906</creationdate><title>Pneumatically driven surgical instrument capable of estimating translational force and grasping force</title><author>Miyazaki, Ryoken ; Kanno, Takahiro ; Kawashima, Kenji</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c4153-7f02891ea5f080eee710795148603ca840bbb70d2c554551216ade077bd704793</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2019</creationdate><topic>Actuation</topic><topic>Biomechanical Phenomena</topic><topic>CAS</topic><topic>Computer assisted surgery</topic><topic>Disks</topic><topic>Dynamic models</topic><topic>dynamics</topic><topic>Equipment Design</topic><topic>Error analysis</topic><topic>Estimation</topic><topic>Feedback</topic><topic>force estimation</topic><topic>Grasping (robotics)</topic><topic>Grasping force</topic><topic>Humans</topic><topic>Minimally invasive surgery</topic><topic>Minimally Invasive Surgical Procedures - instrumentation</topic><topic>Minimally Invasive Surgical Procedures - methods</topic><topic>pneumatic‐driven system</topic><topic>Pressure</topic><topic>Robotics - instrumentation</topic><topic>Robotics - methods</topic><topic>Robots</topic><topic>Surgical apparatus & instruments</topic><topic>Surgical Instruments</topic><topic>surgical robot</topic><topic>Touch</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Miyazaki, Ryoken</creatorcontrib><creatorcontrib>Kanno, Takahiro</creatorcontrib><creatorcontrib>Kawashima, Kenji</creatorcontrib><collection>Medline</collection><collection>MEDLINE</collection><collection>MEDLINE (Ovid)</collection><collection>MEDLINE</collection><collection>MEDLINE</collection><collection>PubMed</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>ProQuest Health & Medical Complete (Alumni)</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>MEDLINE - Academic</collection><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Miyazaki, Ryoken</au><au>Kanno, Takahiro</au><au>Kawashima, Kenji</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Pneumatically driven surgical instrument capable of estimating translational force and grasping force</atitle><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle><addtitle>Int J Med Robot</addtitle><date>2019-06</date><risdate>2019</risdate><volume>15</volume><issue>3</issue><spage>e1983</spage><epage>n/a</epage><pages>e1983-n/a</pages><issn>1478-5951</issn><eissn>1478-596X</eissn><abstract>Background: In robot‐assisted minimally invasive surgery, feedback as well as sensing of translational and grasping forces allows surgeons to manipulate the robots using an appropriate force. However, there have been limited reports on single instruments capable of sensing both forces (translational force and grasping force), with the exception of instruments with electronic sensors.
Methods: In this study, a pneumatically driven surgical instrument capable of estimating both translational and grasping forces is developed. Our estimation method is based on the dynamics and pneumatic pressure changes of the instrument. For each force estimation, we applied a joint mechanism consisting of disks and a flexible backbone and constructed pneumatic driving systems, kinematic models, dynamic models, controller, and force estimator.
Results: We confirmed experimentally that the mean absolute error between the measured forces and the estimated translational and grasping forces is 0.2 N or less for any condition. From these results, it is seen that the mechanical interference between the joint actuation mechanism and grasper actuation mechanism is negligibly small.
Conclusions: A method for estimating both forces was proposed, and experimental results confirmed the effectiveness of the method.</abstract><cop>England</cop><pub>Wiley Subscription Services, Inc</pub><pmid>30648783</pmid><doi>10.1002/rcs.1983</doi><tpages>1</tpages><orcidid>https://orcid.org/0000-0001-7526-9344</orcidid></addata></record> |
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| ispartof | The international journal of medical robotics + computer assisted surgery, 2019-06, Vol.15 (3), p.e1983-n/a |
| issn | 1478-5951 1478-596X |
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| source | MEDLINE; Wiley Online Library Journals Frontfile Complete |
| subjects | Actuation Biomechanical Phenomena CAS Computer assisted surgery Disks Dynamic models dynamics Equipment Design Error analysis Estimation Feedback force estimation Grasping (robotics) Grasping force Humans Minimally invasive surgery Minimally Invasive Surgical Procedures - instrumentation Minimally Invasive Surgical Procedures - methods pneumatic‐driven system Pressure Robotics - instrumentation Robotics - methods Robots Surgical apparatus & instruments Surgical Instruments surgical robot Touch |
| title | Pneumatically driven surgical instrument capable of estimating translational force and grasping force |
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