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Vision Based Surgical Tool Tracking and Force Estimation with Robot Kinematics Prior.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Vision Based Surgical Tool Tracking and Force Estimation with Robot Kinematics Prior./
Author:	Su, Yun-Hsuan.
Description:	1 online resource (204 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 82-04, Section: B.
Contained By:	Dissertations Abstracts International82-04B.
Subject:	Robotics. -
Online resource:	click for full text (PQDT)
ISBN:	9798672171456

Vision Based Surgical Tool Tracking and Force Estimation with Robot Kinematics Prior.
Su, Yun-Hsuan.

Vision Based Surgical Tool Tracking and Force Estimation with Robot Kinematics Prior. - 1 online resource (204 pages)

Source: Dissertations Abstracts International, Volume: 82-04, Section: B.

Thesis (Ph.D.)--University of Washington, 2020.

Includes bibliographical references

Robot assisted minimally invasive surgery combines the skill and techniques of highly-trained surgeons with the robustness and precision of machines. Through a teleoperation scheme, surgeons can execute high-level surgical tasks by commanding instruments controlled by precise robotic devices. Several advantages arise. To name a few: (1) achieved precision is beyond that of human dexterity alone (2) a greater number of kinematic degrees of freedom are possible at the surgical tool tip (3) surgeons are able to operate remotely, i.e. agnostic of patient location given a suitable communication line. Despite the numerous advantages over traditional key-hole or laparoscopic surgery, the lack of realistic and real-time force feedback is a major drawback --- discerning tool-tissue interactions can be unintuitive and can ultimately result in unintentional tissue damage. Directly sensing forces at the tool-tissue interface is theoretically possible using tool tip mounted force sensors, but this approach is not amenable to required sterilization procedures. Thus, a vision based force estimation method is proposed to infer the applied force based on real-time analysis of tissue deformation.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2024

Mode of access: World Wide Web

ISBN: 9798672171456Subjects--Topical Terms:

561941
Robotics.
Subjects--Index Terms:

3D Deformation AnalysisIndex Terms--Genre/Form:

554714
Electronic books.

Vision Based Surgical Tool Tracking and Force Estimation with Robot Kinematics Prior.
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502 $a Thesis (Ph.D.)--University of Washington, 2020.
504 $a Includes bibliographical references
520 $a Robot assisted minimally invasive surgery combines the skill and techniques of highly-trained surgeons with the robustness and precision of machines. Through a teleoperation scheme, surgeons can execute high-level surgical tasks by commanding instruments controlled by precise robotic devices. Several advantages arise. To name a few: (1) achieved precision is beyond that of human dexterity alone (2) a greater number of kinematic degrees of freedom are possible at the surgical tool tip (3) surgeons are able to operate remotely, i.e. agnostic of patient location given a suitable communication line. Despite the numerous advantages over traditional key-hole or laparoscopic surgery, the lack of realistic and real-time force feedback is a major drawback --- discerning tool-tissue interactions can be unintuitive and can ultimately result in unintentional tissue damage. Directly sensing forces at the tool-tissue interface is theoretically possible using tool tip mounted force sensors, but this approach is not amenable to required sterilization procedures. Thus, a vision based force estimation method is proposed to infer the applied force based on real-time analysis of tissue deformation.
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653 $a Force Feedback
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