Waters, I, Jones, D orcid.org/0000-0002-2961-8483, Alazmani, A orcid.org/0000-0001-8983-173X et al. (1 more author) (2022) Utilising Incipient Slip for Grasping Automation in Robot Assisted Surgery. IEEE Robotics and Automation Letters, 7 (2). pp. 1071-1078. ISSN 2377-3766
Abstract
Despite recent advances in modern surgical robotic systems, an ongoing challenge remains their limited ability to control grasp force. This can impair surgical performance as a result of either tissue slippage or trauma from excessive grasp force. In this work we investigate a force control strategy to address this challenge based on the detection of incipient slip. Our approach employs a grasper face whose shape is engineered to encourage preferential localised slips that can be sensed using embedded displacement sensors prior to gross slip occurring. This novel approach enables closed loop control of the grasping force to prevent gross slip whilst applying minimal force. In this paper we first demonstrate the efficacy of sensing incipient slip and then demonstrate how this can form a robust closed loop grasping system to maintain stable control of tissue. Results demonstrate that this approach can achieve equivalent grasping performance to a scheme employing a fixed maximal grasping force while reducing tissue loading, and thus risk of trauma. This provides the foundation for the development of automated surgical robots with adaptive grasp force control.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Surgical robotics: laparoscopy, grasping, force control |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 07 Jan 2022 13:14 |
Last Modified: | 07 Jan 2022 13:14 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Identification Number: | 10.1109/lra.2021.3137554 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:182063 |