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An Extended Algorithm for Autonomous Grasping of Soft Tissues During Robotic Surgery Publisher Pubmed



Amirkhani G1, 2 ; Farahmand F1, 2 ; Yazdian SM2 ; Mirbagheri A3
Authors
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Authors Affiliations
  1. 1. Mechanical Engineering Department, Sharif University of Technology, Tehran, Iran
  2. 2. Research Center for Biomedical Technologies and Robotics (RCBTR), Tehran University of Medical Sciences, Tehran, Iran
  3. 3. Medical Physics & Biomedical Engineering Department, School of Medicine and Research Center for Biomedical Technologies and Robotics (RCBTR), Advanced Medical Technologies and Equipment Institute (AMTEI), Tehran University of Medical Sciences, Tehran, Iran

Source: International Journal of Medical Robotics and Computer Assisted Surgery Published:2020


Abstract

Background: Autonomous grasping of soft tissues can facilitate the robotic surgery procedures. The previous attempts for implementing auto-grasping have been based on a simplistic representation of the actual surgery maneuvers. Method: A generalized three-zone grasp model was introduced to consider the effect of the pull force angulation on the grasp mode, that is, damage, slip, or safe grasp. Also, an extended auto-grasping algorithm was proposed in which the trigger force is automatically controlled against the pull force magnitude and direction, to achieve a safe and secure grasp. Results: The autonomous grasping experiments against a varying pull force in a phantom study indicated a good agreement between the desired and actual pinch and trigger forces (root mean square errors lower than 0.168 N and 0.280 N, respectively) and no sign of tissue tear or slippage. Conclusions: The proposed auto-grasping algorithm can help manipulating the soft tissues safely and effectively during robotic surgery procedures. © 2020 John Wiley & Sons Ltd
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Experts (# of related papers)
Alireza Mir Bagheri (3)