Automatic Tissue Traction with Haptics-Enabled Forceps for Minimally Invasive Surgery
CoRR(2024)
摘要
A common limitation of autonomous tissue manipulation in robotic minimally
invasive surgery (MIS) is the absence of force sensing and control at the tool
level. Recently, our team has developed haptics-enabled forceps that can
simultaneously measure the grasping and pulling forces during tissue
manipulation. Based on this design, here we further present a method to
automate tissue traction with controlled grasping and pulling forces.
Specifically, the grasping stage relies on a controlled grasping force, while
the pulling stage is under the guidance of a controlled pulling force. Notably,
during the pulling process, the simultaneous control of both grasping and
pulling forces is also enabled for more precise tissue traction, achieved
through force decoupling. The force controller is built upon a static model of
tissue manipulation, considering the interaction between the haptics-enabled
forceps and soft tissue. The efficacy of this force control approach is
validated through a series of experiments comparing targeted, estimated, and
actual reference forces. To verify the feasibility of the proposed method in
surgical applications, various tissue resections are conducted on ex vivo
tissues employing a dual-arm robotic setup. Finally, we discuss the benefits of
multi-force control in tissue traction, evidenced through comparative analyses
of various ex vivo tissue resections. The results affirm the feasibility of
implementing automatic tissue traction using micro-sized forceps with
multi-force control, suggesting its potential to promote autonomous MIS. A
video demonstrating the experiments can be found at
https://youtu.be/8fe8o8IFrjE.
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要