Robot-assisted minimally invasive surgery (RAMIS) has gained popularity in recent years as it offers improved vision, precision and patient recovery time compared to traditional MIS. However, certain shortcomings prevent RAMIS from fulfilling its maximum potential, including the lack of haptic feedback provided to the surgeon. At the same time, the size of force sensors and incision ports, sterilisation of tools at high temperature and the disposable nature of surgical tools have so far prevented integration of end-effector sensing in surgery. In this work, we propose an alternative method to force estimation in a RAMIS context, using the real-time measurement of the instrument motor current. Off-the-shelf force sensors are characterised and then used to determine the correlation between the motor current and the applied force in palpation and grasping with DaVinci forceps.
|Title of host publication||Proceedings of the joint workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2018)|
|Number of pages||2|
|Publication status||Published - 2018|