Jie Li, Zhenguo Yang, Dingjia Li, Chongyang Wang, Ji Shen, Chao Han, Xing Xin, Weiqun Wang, Jichun Tan, Hao Liu
{"title":"Dynamic Force Sensing for Continuous Scraping Towards Endometrium Repair Surgery","authors":"Jie Li, Zhenguo Yang, Dingjia Li, Chongyang Wang, Ji Shen, Chao Han, Xing Xin, Weiqun Wang, Jichun Tan, Hao Liu","doi":"10.1002/rcs.70045","DOIUrl":null,"url":null,"abstract":"<div>\n \n \n <section>\n \n <h3> Background</h3>\n \n <p>A surgical robot with force feedback can guarantee precise and gentle manipulation for endometrial repair, ensuring the effectiveness and safety of the manipulation. However, the design of force sensors for surgical robots is challenging due to the limited anatomical space and the requirement for continuous rotation.</p>\n </section>\n \n <section>\n \n <h3> Methods</h3>\n \n <p>This paper presents a novel force-sensing surgical instrument for endometrial repair, including an inner scraping instrument and an outer force sensing sheath. It utilises the actuation force of the outer flexible sheath to predict real-time tangential and normal forces of the scraping to the endometrium surface. Experiments are conducted to test its force sensing accuracy.</p>\n </section>\n \n <section>\n \n <h3> Results</h3>\n \n <p>This paper simulated three types of operations with different tangential force thresholds and obtained the mean error with the standard deviation.</p>\n </section>\n \n <section>\n \n <h3> Discussion</h3>\n \n <p>This sensing method enables real-time and accurate measurement of the dynamic scraping force between the rotating instrument and the tissue.</p>\n </section>\n </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3000,"publicationDate":"2025-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Medical Robotics and Computer Assisted Surgery","FirstCategoryId":"3","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rcs.70045","RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"SURGERY","Score":null,"Total":0}
Dynamic Force Sensing for Continuous Scraping Towards Endometrium Repair Surgery
Background
A surgical robot with force feedback can guarantee precise and gentle manipulation for endometrial repair, ensuring the effectiveness and safety of the manipulation. However, the design of force sensors for surgical robots is challenging due to the limited anatomical space and the requirement for continuous rotation.
Methods
This paper presents a novel force-sensing surgical instrument for endometrial repair, including an inner scraping instrument and an outer force sensing sheath. It utilises the actuation force of the outer flexible sheath to predict real-time tangential and normal forces of the scraping to the endometrium surface. Experiments are conducted to test its force sensing accuracy.
Results
This paper simulated three types of operations with different tangential force thresholds and obtained the mean error with the standard deviation.
Discussion
This sensing method enables real-time and accurate measurement of the dynamic scraping force between the rotating instrument and the tissue.
期刊介绍：
The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.
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