Online identification of abdominal tissues in vivo for tissue-aware and injury-avoiding surgical robots

Astrini Sie, Michael Winek, Timothy M. Kowalewski

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

This work presents a 'smart' robotic surgical grasper capable of identifying tissue during the early stages of a grasp, allowing automated prevention of grasper-induced tissue crush injuries. It employs no additional sensors beyond signals already present in surgical robots. An estimation algorithm using an extended Kalman filter (EKF) is employed for a nonlinear tissue dynamic model, which is investigated in silico as well as in vivo and in situ on porcine models. Results show that while the approach is sensitive to initial conditions, tissue can be identified during the early stage of a typical grasp.

Original languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2036-2042
Number of pages7
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

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    Sie, A., Winek, M., & Kowalewski, T. M. (2014). Online identification of abdominal tissues in vivo for tissue-aware and injury-avoiding surgical robots. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2036-2042). [6942834] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942834