Real-time Vision-based Approach for Estimating Tool-tissue Contact Force with Application to Laparoscopic Surgery, M.Sc. Thesis Sharif University of Technology ; Behzadipour, Saeed (Supervisor)
Abstract
Lack of force feedback during minimally invasive procedures is one of the downsides of such interventions and might result to excessive damage to surrounding tissues. The goal of the present research is to introduce a vision-based approach to estimate contact forces on soft tissues. In this approach, a model was developed in which, image of deformation of a sample soft tissue, under the jaws of laparoscopic gripper, is the input and the output is the gripper force. In this work, a FEM of soft tissue in contact with jaws of a laparoscopic tool is developed. . In the model, the effects of friction between the tool and tissue is considered which was not included in the previous studies. After...
Cataloging briefReal-time Vision-based Approach for Estimating Tool-tissue Contact Force with Application to Laparoscopic Surgery, M.Sc. Thesis Sharif University of Technology ; Behzadipour, Saeed (Supervisor)
Abstract
Lack of force feedback during minimally invasive procedures is one of the downsides of such interventions and might result to excessive damage to surrounding tissues. The goal of the present research is to introduce a vision-based approach to estimate contact forces on soft tissues. In this approach, a model was developed in which, image of deformation of a sample soft tissue, under the jaws of laparoscopic gripper, is the input and the output is the gripper force. In this work, a FEM of soft tissue in contact with jaws of a laparoscopic tool is developed. . In the model, the effects of friction between the tool and tissue is considered which was not included in the previous studies. After...
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