Gaussian Process Regression for Sensorless Grip Force Estimation of Cable-Driven Elongated Surgical Instruments

@article{Li2017GaussianPR,
  title={Gaussian Process Regression for Sensorless Grip Force Estimation of Cable-Driven Elongated Surgical Instruments},
  author={Yangming Li and Blake Hannaford},
  journal={IEEE Robotics and Automation Letters},
  year={2017},
  volume={2},
  pages={1312-1319}
}
Haptic feedback is a critical but a clinically missing component in robotic minimally invasive surgeries. This paper proposes a Gaussian process regression (GPR) based scheme to address the gripping force estimation problem for clinically commonly used elongated cable-driven surgical instruments. Based on the cable-driven mechanism property studies, and surgical robotic system properties, four different GPR filters were designed and analyzed, including one GPR filter with two-dimensional inputs… CONTINUE READING

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