A noninvasive approach to recovering the lost force feedback for a robotic-assisted insertable laparoscopic surgical camera

Ning Li, Gregory Mancini, Jindong Tan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Fully insertable laparoscopic cameras feature more locomotive flexibility in a larger workspace compared to conventional trocar-based laparoscopes and thus represent a promising future of minimally invasive surgery. These cameras are principally anchored and actuated by transabdominal magnetic coupling. Although several proof-of-concept prototypes have shown the technical feasibility in terms of camera actuation and laparoscopic imaging, none of them are getting close to clinical practice due to concerns about safety. One common problem lies in that the interaction force between the camera and the abdominal wall tissue is completely unknown and not controlled. The camera is being manipulated in an open loop which exposes the patient to a high risk of being injured. In this paper, a noninvasive real-time camera-tissue interaction force measurement approach for an insertable laparoscopic camera is proposed, implemented, and validated.Ex-vivo experiments using a simulated abdominal cavity have demonstrated the effectiveness of this approach during anchoring, translation, and rotation camera behaviors. Potential surgical impacts enabled by the force feedback have also been exemplified by a robotic-assisted camera control experiment using shared autonomy.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1521-1526
Number of pages6
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 1 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

Fingerprint

Robotics
Cameras
Feedback
Laparoscopy
Tissue
Magnetic couplings
Locomotives
Force measurement
Surgery
Experiments
Imaging techniques

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Li, N., Mancini, G., & Tan, J. (2019). A noninvasive approach to recovering the lost force feedback for a robotic-assisted insertable laparoscopic surgical camera. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 1521-1526). [8793640] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8793640

A noninvasive approach to recovering the lost force feedback for a robotic-assisted insertable laparoscopic surgical camera. / Li, Ning; Mancini, Gregory; Tan, Jindong.

2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1521-1526 8793640 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Li, N, Mancini, G & Tan, J 2019, A noninvasive approach to recovering the lost force feedback for a robotic-assisted insertable laparoscopic surgical camera. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8793640, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, Institute of Electrical and Electronics Engineers Inc., pp. 1521-1526, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 5/20/19. https://doi.org/10.1109/ICRA.2019.8793640
Li N, Mancini G, Tan J. A noninvasive approach to recovering the lost force feedback for a robotic-assisted insertable laparoscopic surgical camera. In 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1521-1526. 8793640. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2019.8793640
Li, Ning ; Mancini, Gregory ; Tan, Jindong. / A noninvasive approach to recovering the lost force feedback for a robotic-assisted insertable laparoscopic surgical camera. 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 1521-1526 (Proceedings - IEEE International Conference on Robotics and Automation).
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