| Force feedback in a piezoelectric linear actuator for neurosurgery. | |
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MedLine Citation:
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PMID: 21538769 Owner: NLM Status: Publisher |
Abstract/OtherAbstract:
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BACKGROUND: Force feedback in robotic minimally invasive surgery allows the human operator to manipulate tissues as if his/her hands were in contact with the patient organs. A force sensor mounted on the probe raises problems with sterilization of the overall surgical tool. Also, the use of off-axis gauges introduces a moment that increases the friction force on the bearing, which can easily mask off the signal, given the small force to be measured. METHODS: This work aims at designing and testing two methods for estimating the resistance to the advancement (force) experienced by a standard probe for brain biopsies within a brain-like material. The further goal is to provide a neurosurgeon using a master-slave tele-operated driver with direct feedback on the tissue mechanical characteristics. Two possible sensing methods, in-axis strain gauge force sensor and position-position error (control-based method), were implemented and tested, both aimed at device miniaturization. The analysis carried out was aimed at fulfilment of the psychophysics requirements for force detection and delay tolerance, also taking into account safety, which is directly related to the last two issues. Controller parameters definition is addressed and consideration is given to development of the device with integration of a haptic interface. RESULTS: Results show better performance of the control-based method (RMSE < 0.1 N), which is also best for reliability, sterilizability, and material dimensions for the application addressed. CONCLUSIONS: The control-based method developed for force estimation is compatible with the neurosurgical application and is also capable of measuring tissue resistance without any additional sensors. Force feedback in minimally invasive surgery allows the human operator to manipulate tissues as if his/her hands were in contact with the patient organs. Copyright © 2011 John Wiley & Sons, Ltd. |
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Authors:
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Danilo De Lorenzo; Elena De Momi; Ilya Dyagilev; Rudy Manganelli; Alessandro Formaglio; Domenico Prattichizzo; Moshe Shoham; Giancarlo Ferrigno |
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Publication Detail:
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Type: JOURNAL ARTICLE Date: 2011-4-28 |
Journal Detail:
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Title: The international journal of medical robotics + computer assisted surgery : MRCAS Volume: - ISSN: 1478-596X ISO Abbreviation: - Publication Date: 2011 Apr |
Date Detail:
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Created Date: 2011-5-3 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 101250764 Medline TA: Int J Med Robot Country: - |
Other Details:
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Languages: ENG Pagination: - Citation Subset: - |
Copyright Information:
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Copyright © 2011 John Wiley & Sons, Ltd. |
Affiliation:
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Politecnico di Milano, Bioengineering Department, NearLab, Milano, Italy. danilo.delorenzo@mail.polimi.it. |
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From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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