Waters, I, Jones, D orcid.org/0000-0002-2961-8483, Alazmani, A orcid.org/0000-0001-8983-173X et al. (1 more author) (2022) Encouraging and Detecting Preferential Incipient Slip for Use in Slip Prevention in Robot-Assisted Surgery. Sensors, 22 (20). 7956. ISSN 1424-8220
Abstract
Robotic surgical platforms have helped to improve minimally invasive surgery; however, limitations in their force feedback and force control can result in undesirable tissue trauma or tissue slip events. In this paper, we investigate a sensing method for the early detection of slip events when grasping soft tissues, which would allow surgical robots to take mitigating action to prevent tissue slip and maintain stable grasp control while minimising the applied gripping force, reducing the probability of trauma. The developed sensing concept utilises a curved grasper face to create areas of high and low normal, and thus frictional, force. In the areas of low normal force, there is a higher probability that the grasper face will slip against the tissue. If the grasper face is separated into a series of independent movable islands, then by tracking their displacement it will be possible to identify when the areas of low normal force first start to slip while the remainder of the tissue is still held securely. The system was evaluated through the simulated grasping and retraction of tissue under conditions representative of surgical practice using silicone tissue simulants and porcine liver samples. It was able to successfully detect slip before gross slip occurred with a 100% and 77% success rate for the tissue simulant and porcine liver samples, respectively. This research demonstrates the efficacy of this sensing method and the associated sensor system for detecting the occurrence of tissue slip events during surgical grasping and retraction.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2022 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
Keywords: | surgical robotics; grasping; slip; force; tactile sensing |
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: | 17 Jul 2023 14:49 |
Last Modified: | 17 Jul 2023 14:49 |
Status: | Published |
Publisher: | MDPI |
Identification Number: | 10.3390/s22207956 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:201459 |