Slip Sensing for Intelligent, Improved Grasping and Retraction in Robot-Assisted Surgery | IEEE Journals & Magazine | IEEE Xplore

Slip Sensing for Intelligent, Improved Grasping and Retraction in Robot-Assisted Surgery


Abstract:

Grasping and manipulation of biological tissue are crucial processes during Robot-Assisted Surgery (RAS). An intelligent system that aids surgeons in maintaining a reliab...Show More

Abstract:

Grasping and manipulation of biological tissue are crucial processes during Robot-Assisted Surgery (RAS). An intelligent system that aids surgeons in maintaining a reliable, atraumatic grasp on tissue, would allow them to focus on the clinical task, and potentially improve safety and performance. To this end, we investigate slip detection of grasped tissue. Because tissue is moist, conformable, and delicate, and because the sensor must work in a surgical environment, this application requires a departure from traditional slip-sensing methods. We present a method that uses sensor fusion with a da Vinci surgical system to identify slip after a reliable grasp is made. A transient simulation of the thermal-based sensor was used to describe its expected behavior. The sensor's response to slips was then validated. Subsequent experiments involved building a custom da Vinci 8 mm instrument with the sensor integrated and interacting with ex vivo porcine tissue. Results demonstrated slip detection within 2.1 mm average motion across five tissue types. During freeform grasping experiments, slip was detected with a 92% true positive rate and 94% positive predictive value.
Published in: IEEE Robotics and Automation Letters ( Volume: 3, Issue: 4, October 2018)
Page(s): 4148 - 4155
Date of Publication: 06 August 2018

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