Sensorless Force Estimation using a Neuro-Vision-Based Approach for Robotic-Assisted Surgery

Abstract

This paper addresses the issue of lack of force feedback in robotic-assisted minimally invasive surgeries. Force is an important measure for surgeons in order to prevent intra-operative complications and tissue damage. Thus, an innovative neuro-vision based force estimation approach is proposed. Tissue surface displacement is first measured via minimization of an energy functional. A neuro approach is then used to establish a geometric-visual relation and estimate the applied force. The proposed approach eliminates the need of add-on sensors, carrying out biocompatibility studies and is applicable to tissues of any shape. Moreover, we provided an improvement from 15.14% to 56.16% over other approaches which demonstrate the potential of our proposal.

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Cite this paper

@inproceedings{Avils2016SensorlessFE, title={Sensorless Force Estimation using a Neuro-Vision-Based Approach for Robotic-Assisted Surgery}, author={Angelica I. Avil{\'e}s and Samar M. Alsaleh and Pilar Sobrevilla and Alicia Casals}, year={2016} }