Restoring the sense of touch in robotic surgery is an emerging need several researchers tried to address. In this paper, we focused on the slave side proposing a pneumatic sensor to estimate contact forces occurring during the interaction between surgical instruments and anatomical areas. It consists of a tiny pneumatic balloon, which, after being inflated, appears near the tip of the instrument during the measurement phase only. This paper presents a mathematical method relating the intensity of the contact force to the variation of pressure inside the balloon. The latter was modeled as a spherical elastic membrane, whose behavior during contact was characterized taking into account both the deformation of the membrane and the compression of the contained gas. Geometrical considerations combined with an energetic approach allowed us to compute the force of interest. The effectiveness of our sensing device has been confirmed by experimental results, based on comparison with a high-performance commercial force sensor.
Gaudeni, C., Prattichizzo, D. (2019). A Mathematical Model of the Pneumatic Force Sensor for Robot-assisted Surgery. In Proc. 2019 IEEE World Haptics Conference (WHC) (pp.598-603). IEEE [10.1109/WHC.2019.8816087].
A Mathematical Model of the Pneumatic Force Sensor for Robot-assisted Surgery
C. Gaudeni;D. Prattichizzo
2019-01-01
Abstract
Restoring the sense of touch in robotic surgery is an emerging need several researchers tried to address. In this paper, we focused on the slave side proposing a pneumatic sensor to estimate contact forces occurring during the interaction between surgical instruments and anatomical areas. It consists of a tiny pneumatic balloon, which, after being inflated, appears near the tip of the instrument during the measurement phase only. This paper presents a mathematical method relating the intensity of the contact force to the variation of pressure inside the balloon. The latter was modeled as a spherical elastic membrane, whose behavior during contact was characterized taking into account both the deformation of the membrane and the compression of the contained gas. Geometrical considerations combined with an energetic approach allowed us to compute the force of interest. The effectiveness of our sensing device has been confirmed by experimental results, based on comparison with a high-performance commercial force sensor.
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Descrizione: Accepted Version. European Union (EU), Horizon 2020 programme. European project “Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn” (SoftPro), H2020 Research & Innovation Action, Grant Agreement n. 688857. © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Digital Object Identifier (DOI): 10.1109/WHC.2019.8816087
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https://hdl.handle.net/11365/1082331