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Estimation of tool-tissue forces in robot-assisted minimally invasive surgery using neural networks

Abeywardena, Sajeeva; Qiaodi, Yuan; Tzemanaki, Antonia; Psomopoulou, Efi; Droukas, Leonidas; Melhuish, Chris; Dogramadzi, Sanja


Yuan Qiaodi

Chris Melhuish
Director of Research Institute/Professor


A new algorithm is proposed to estimate the tool-tissue force interaction in robot-assisted minimally invasive surgery which does not require the use of external force sensing. The proposed method utilizes the current of the motors of the surgical instrument and neural network methods to estimate the force interaction.Offline and online testing is conducted to assess the feasibility of the developed algorithm. Results showed that the developed method has promise in allowing online estimation of tool-tissue force and could thus enable haptic feedback in robotic surgery to be provided.

Journal Article Type Article
Journal Frontiers in Robotics and AI
Electronic ISSN 2296-9144
Publisher Frontiers Media
Peer Reviewed Peer Reviewed
Volume 6
Article Number 56
APA6 Citation Abeywardena, S., Qiaodi, Y., Tzemanaki, A., Psomopoulou, E., Droukas, L., Melhuish, C., & Dogramadzi, S. (in press). Estimation of tool-tissue forces in robot-assisted minimally invasive surgery using neural networks. Frontiers in Robotics and AI, 6,
Keywords robotic surgery, force sensing, sensor-less
Publisher URL


Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks (1.3 Mb)


Copyright Statement
Copyright © 2019 Abeywardena, Yuan, Tzemanaki, Psomopoulou, Droukas, Melhuish and Dogramadzi. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or
reproduction is permitted which does not comply with these terms.

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