Tissue characterization in medical robotics

Mohsen Moradi Dalvand; Bijan Shirinzadeh; Saeid Nahavandi; Robert D Howe

doi:10.1109/ROMAN.2014.6926276

Tissue characterization in medical robotics

Mohsen Moradi Dalvand, Bijan Shirinzadeh, Saeid Nahavandi, Robert D Howe

Mechanical & Aerospace Engineering

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

Abstract

The lack of haptic feedback has negatively affected the surgeon's ability to palpate and diagnose tissue and differentiate its stiffness during surgical operations with commercially available robotic assisted surgical systems. A modular surgical instrument capable of non-invasive measurement of sideways tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems is presented in this paper. The proposed force measurement technique enables the actual non-invasive measurement of the sideways interaction forces at the tip jaws. The instrument has two actuation degrees of freedom (DOF) for the tip operation and grasping orientation. The tip functionality type (e.g., grasping, cutting, and dissecting) can also be changed quickly and easily. Experiments were conducted to evaluate functionalities of the proposed instrument in palpating tissues. The results are presented and analysed here that verify the capability of the proposed instrument in accurately measuring lateral tip/tissue interaction forces.

Original language	English
Title of host publication	Proceedings - IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN 2014)
Subtitle of host publication	Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions
Editors	Farshid Amirabdollahian
Place of Publication	Piscataway NJ USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	1-6
Number of pages	6
ISBN (Electronic)	9781479967636
ISBN (Print)	9781479967636
DOIs	https://doi.org/10.1109/ROMAN.2014.6926276
Publication status	Published - 2014
Event	IEEE/RSJ International Symposium on Robot and Human Interactive Communication 2014 - Edinburgh, United Kingdom Duration: 25 Aug 2014 → 29 Aug 2014 Conference number: 23rd https://ieeexplore.ieee.org/xpl/conhome/6919203/proceeding (Proceedings)

Conference

Conference	IEEE/RSJ International Symposium on Robot and Human Interactive Communication 2014
Abbreviated title	RO-MAN 2014
Country/Territory	United Kingdom
City	Edinburgh
Period	25/08/14 → 29/08/14
Internet address	https://ieeexplore.ieee.org/xpl/conhome/6919203/proceeding (Proceedings)

Keywords

Actuation Mechanism
Force Measurement
Laparoscopic Instrument
Modularity
Robotic Assisted Minimally Invasive Surgery (RAMIS)
Strain Gages
Transmission Mechanism

Access to Document

10.1109/ROMAN.2014.6926276

Cite this

Dalvand, M. M., Shirinzadeh, B., Nahavandi, S., & Howe, R. D. (2014). Tissue characterization in medical robotics. In F. Amirabdollahian (Ed.), Proceedings - IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN 2014): Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions (pp. 1-6). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ROMAN.2014.6926276

Dalvand, Mohsen Moradi ; Shirinzadeh, Bijan ; Nahavandi, Saeid et al. / Tissue characterization in medical robotics. Proceedings - IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN 2014): Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions. editor / Farshid Amirabdollahian. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2014. pp. 1-6

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title = "Tissue characterization in medical robotics",

abstract = "The lack of haptic feedback has negatively affected the surgeon's ability to palpate and diagnose tissue and differentiate its stiffness during surgical operations with commercially available robotic assisted surgical systems. A modular surgical instrument capable of non-invasive measurement of sideways tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems is presented in this paper. The proposed force measurement technique enables the actual non-invasive measurement of the sideways interaction forces at the tip jaws. The instrument has two actuation degrees of freedom (DOF) for the tip operation and grasping orientation. The tip functionality type (e.g., grasping, cutting, and dissecting) can also be changed quickly and easily. Experiments were conducted to evaluate functionalities of the proposed instrument in palpating tissues. The results are presented and analysed here that verify the capability of the proposed instrument in accurately measuring lateral tip/tissue interaction forces.",

keywords = "Actuation Mechanism, Force Measurement, Laparoscopic Instrument, Modularity, Robotic Assisted Minimally Invasive Surgery (RAMIS), Strain Gages, Transmission Mechanism",

author = "Dalvand, \{Mohsen Moradi\} and Bijan Shirinzadeh and Saeid Nahavandi and Howe, \{Robert D\}",

year = "2014",

doi = "10.1109/ROMAN.2014.6926276",

language = "English",

isbn = "9781479967636",

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booktitle = "Proceedings - IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN 2014)",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

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note = "IEEE/RSJ International Symposium on Robot and Human Interactive Communication 2014, RO-MAN 2014 ; Conference date: 25-08-2014 Through 29-08-2014",

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Dalvand, MM, Shirinzadeh, B, Nahavandi, S & Howe, RD 2014, Tissue characterization in medical robotics. in F Amirabdollahian (ed.), Proceedings - IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN 2014): Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions. IEEE, Institute of Electrical and Electronics Engineers, Piscataway NJ USA, pp. 1-6, IEEE/RSJ International Symposium on Robot and Human Interactive Communication 2014, Edinburgh, United Kingdom, 25/08/14. https://doi.org/10.1109/ROMAN.2014.6926276

Tissue characterization in medical robotics. / Dalvand, Mohsen Moradi; Shirinzadeh, Bijan; Nahavandi, Saeid et al.
Proceedings - IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN 2014): Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions. ed. / Farshid Amirabdollahian. Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers, 2014. p. 1-6.

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

TY - GEN

T1 - Tissue characterization in medical robotics

AU - Dalvand, Mohsen Moradi

AU - Shirinzadeh, Bijan

AU - Nahavandi, Saeid

AU - Howe, Robert D

N1 - Conference code: 23rd

PY - 2014

Y1 - 2014

N2 - The lack of haptic feedback has negatively affected the surgeon's ability to palpate and diagnose tissue and differentiate its stiffness during surgical operations with commercially available robotic assisted surgical systems. A modular surgical instrument capable of non-invasive measurement of sideways tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems is presented in this paper. The proposed force measurement technique enables the actual non-invasive measurement of the sideways interaction forces at the tip jaws. The instrument has two actuation degrees of freedom (DOF) for the tip operation and grasping orientation. The tip functionality type (e.g., grasping, cutting, and dissecting) can also be changed quickly and easily. Experiments were conducted to evaluate functionalities of the proposed instrument in palpating tissues. The results are presented and analysed here that verify the capability of the proposed instrument in accurately measuring lateral tip/tissue interaction forces.

AB - The lack of haptic feedback has negatively affected the surgeon's ability to palpate and diagnose tissue and differentiate its stiffness during surgical operations with commercially available robotic assisted surgical systems. A modular surgical instrument capable of non-invasive measurement of sideways tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems is presented in this paper. The proposed force measurement technique enables the actual non-invasive measurement of the sideways interaction forces at the tip jaws. The instrument has two actuation degrees of freedom (DOF) for the tip operation and grasping orientation. The tip functionality type (e.g., grasping, cutting, and dissecting) can also be changed quickly and easily. Experiments were conducted to evaluate functionalities of the proposed instrument in palpating tissues. The results are presented and analysed here that verify the capability of the proposed instrument in accurately measuring lateral tip/tissue interaction forces.

KW - Actuation Mechanism

KW - Force Measurement

KW - Laparoscopic Instrument

KW - Modularity

KW - Robotic Assisted Minimally Invasive Surgery (RAMIS)

KW - Strain Gages

KW - Transmission Mechanism

UR - https://www.scopus.com/pages/publications/84937548260

U2 - 10.1109/ROMAN.2014.6926276

DO - 10.1109/ROMAN.2014.6926276

M3 - Conference Paper

SN - 9781479967636

SP - 1

EP - 6

BT - Proceedings - IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN 2014)

A2 - Amirabdollahian, Farshid

PB - IEEE, Institute of Electrical and Electronics Engineers

CY - Piscataway NJ USA

T2 - IEEE/RSJ International Symposium on Robot and Human Interactive Communication 2014

Y2 - 25 August 2014 through 29 August 2014

ER -

Dalvand MM, Shirinzadeh B, Nahavandi S, Howe RD. Tissue characterization in medical robotics. In Amirabdollahian F, editor, Proceedings - IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN 2014): Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions. Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers. 2014. p. 1-6 doi: 10.1109/ROMAN.2014.6926276

Tissue characterization in medical robotics

Abstract

Conference

Keywords

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