TY - GEN
T1 - Online identification of abdominal tissues in vivo for tissue-aware and injury-avoiding surgical robots
AU - Sie, Astrini
AU - Winek, Michael
AU - Kowalewski, Timothy M.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84911468955&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911468955&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6942834
DO - 10.1109/IROS.2014.6942834
M3 - Conference contribution
AN - SCOPUS:84911468955
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2036
EP - 2042
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -