Online identification of abdominal tissues in vivo for tissue-aware and injury-avoiding surgical robots

Astrini Sie; Michael Winek; Timothy M. Kowalewski

doi:10.1109/IROS.2014.6942834

Online identification of abdominal tissues in vivo for tissue-aware and injury-avoiding surgical robots

Astrini Sie, Michael Winek, Timothy M. Kowalewski

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Scopus citations

Abstract

This work presents a 'smart' robotic surgical grasper capable of identifying tissue during the early stages of a grasp, allowing automated prevention of grasper-induced tissue crush injuries. It employs no additional sensors beyond signals already present in surgical robots. An estimation algorithm using an extended Kalman filter (EKF) is employed for a nonlinear tissue dynamic model, which is investigated in silico as well as in vivo and in situ on porcine models. Results show that while the approach is sensitive to initial conditions, tissue can be identified during the early stage of a typical grasp.

Original language	English (US)
Title of host publication	IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2036-2042
Number of pages	7
ISBN (Electronic)	9781479969340
DOIs	https://doi.org/10.1109/IROS.2014.6942834
State	Published - Oct 31 2014
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: Sep 14 2014 → Sep 18 2014

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/Territory	United States
City	Chicago
Period	9/14/14 → 9/18/14

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10.1109/IROS.2014.6942834

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Sie, A., Winek, M., & Kowalewski, T. M. (2014). Online identification of abdominal tissues in vivo for tissue-aware and injury-avoiding surgical robots. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2036-2042). [6942834] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942834

Online identification of abdominal tissues in vivo for tissue-aware and injury-avoiding surgical robots. / Sie, Astrini; Winek, Michael; Kowalewski, Timothy M.

IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2036-2042 6942834 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sie, A, Winek, M & Kowalewski, TM 2014, Online identification of abdominal tissues in vivo for tissue-aware and injury-avoiding surgical robots. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6942834, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 2036-2042, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 9/14/14. https://doi.org/10.1109/IROS.2014.6942834

Sie A, Winek M, Kowalewski TM. Online identification of abdominal tissues in vivo for tissue-aware and injury-avoiding surgical robots. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2036-2042. 6942834. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2014.6942834

Sie, Astrini ; Winek, Michael ; Kowalewski, Timothy M. / Online identification of abdominal tissues in vivo for tissue-aware and injury-avoiding surgical robots. IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 2036-2042 (IEEE International Conference on Intelligent Robots and Systems).

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abstract = "This work presents a 'smart' robotic surgical grasper capable of identifying tissue during the early stages of a grasp, allowing automated prevention of grasper-induced tissue crush injuries. It employs no additional sensors beyond signals already present in surgical robots. An estimation algorithm using an extended Kalman filter (EKF) is employed for a nonlinear tissue dynamic model, which is investigated in silico as well as in vivo and in situ on porcine models. Results show that while the approach is sensitive to initial conditions, tissue can be identified during the early stage of a typical grasp.",

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Online identification of abdominal tissues in vivo for tissue-aware and injury-avoiding surgical robots

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