An extended algorithm for autonomous grasping of soft tissues during robotic surgery

Amirkhani, G ; Sharif University of Technology | 2020

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  1. Type of Document: Article
  2. DOI: 10.1002/rcs.2122
  3. Publisher: John Wiley and Sons Ltd , 2020
  4. Abstract:
  5. Background: Autonomous grasping of soft tissues can facilitate the robotic surgery procedures. The previous attempts for implementing auto-grasping have been based on a simplistic representation of the actual surgery maneuvers. Method: A generalized three-zone grasp model was introduced to consider the effect of the pull force angulation on the grasp mode, that is, damage, slip, or safe grasp. Also, an extended auto-grasping algorithm was proposed in which the trigger force is automatically controlled against the pull force magnitude and direction, to achieve a safe and secure grasp. Results: The autonomous grasping experiments against a varying pull force in a phantom study indicated a good agreement between the desired and actual pinch and trigger forces (root mean square errors lower than 0.168 N and 0.280 N, respectively) and no sign of tissue tear or slippage. Conclusions: The proposed auto-grasping algorithm can help manipulating the soft tissues safely and effectively during robotic surgery procedures. © 2020 John Wiley & Sons Ltd
  6. Keywords:
  7. Auto-grasping ; Force control ; Force model ; Grasp model ; Minimally invasive robotic surgery ; Algorithm ; Animal tissue ; Article ; Ball screw ; Ball screw nut ; Controlled study ; Equipment design ; Ex vivo study ; Extended autograsping algorithm ; Force ; Friction ; Gear box ball screw mechanism ; Instrument actuation apparatus ; Laparoscopy ; Mathematical analysis ; Minimally invasive surgery ; Motor system ; Nonbiological model ; Nonhuman ; Physical parameters ; Pinch strength ; Power screw ; Protractor ; Pull force ; Pull force sensor ; Robot assisted surgery ; Safety ; Sheep ; Soft tissue autonomous grasping ; Software ; Stomach ; Temperature compensated strain gauge ; Tension compression force sensor ; Tissue clamping mechanism ; Tissue pulling apparatus ; Tissue slippage ; Trigger force ; Trigger force sensor ; Validation study ; Wristed laparoscopic instrument
  8. Source: International Journal of Medical Robotics and Computer Assisted Surgery ; Volume 16, Issue 5 , 2020 , Pages 1-15
  9. URL: https://onlinelibrary.wiley.com/doi/abs/10.1002/rcs.2122