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Sensors 2015, 15(10), 27341-27358; doi:10.3390/s151027341

Evaluation of Sensor Configurations for Robotic Surgical Instruments

1
Departamento de Ingeniería de Sistemas y Automática, Universidad de Málaga, Calle Dr. Ortiz Ramos, 29071 Málaga, Spain
2
School of Systems Engineering, University of Reading, Whiteknights, RG6-6AY Reading, Berkshire, UK
*
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 15 May 2015 / Revised: 26 September 2015 / Accepted: 19 October 2015 / Published: 27 October 2015
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [4335 KB, uploaded 27 October 2015]   |  

Abstract

Designing surgical instruments for robotic-assisted minimally-invasive surgery (RAMIS) is challenging due to constraints on the number and type of sensors imposed by considerations such as space or the need for sterilization. A new method for evaluating the usability of virtual teleoperated surgical instruments based on virtual sensors is presented. This method uses virtual prototyping of the surgical instrument with a dual physical interaction, which allows testing of different sensor configurations in a real environment. Moreover, the proposed approach has been applied to the evaluation of prototypes of a two-finger grasper for lump detection by remote pinching. In this example, the usability of a set of five different sensor configurations, with a different number of force sensors, is evaluated in terms of quantitative and qualitative measures in clinical experiments with 23 volunteers. As a result, the smallest number of force sensors needed in the surgical instrument that ensures the usability of the device can be determined. The details of the experimental setup are also included. View Full-Text
Keywords: virtual sensors; force feedback; teleoperation virtual sensors; force feedback; teleoperation
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Gómez-de-Gabriel, J.M.; Harwin, W. Evaluation of Sensor Configurations for Robotic Surgical Instruments. Sensors 2015, 15, 27341-27358.

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