• 文献检索
  • 文档翻译
  • 深度研究
  • 学术资讯
  • Suppr Zotero 插件Zotero 插件
  • 邀请有礼
  • 套餐&价格
  • 历史记录
应用&插件
Suppr Zotero 插件Zotero 插件浏览器插件Mac 客户端Windows 客户端微信小程序
定价
高级版会员购买积分包购买API积分包
服务
文献检索文档翻译深度研究API 文档MCP 服务
关于我们
关于 Suppr公司介绍联系我们用户协议隐私条款
关注我们

Suppr 超能文献

核心技术专利：CN118964589B侵权必究
粤ICP备2023148730 号-1Suppr @ 2026

文献检索

告别复杂PubMed语法，用中文像聊天一样搜索，搜遍4000万医学文献。AI智能推荐，让科研检索更轻松。

立即免费搜索

文件翻译

保留排版，准确专业，支持PDF/Word/PPT等文件格式，支持 12+语言互译。

免费翻译文档

深度研究

AI帮你快速写综述，25分钟生成高质量综述，智能提取关键信息，辅助科研写作。

立即免费体验

使用神经网络估计机器人辅助微创手术中的工具-组织力。

Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks.

作者信息

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

机构信息

Bristol Robotics Laboratory, University of the West of England, Bristol, United Kingdom.

出版信息

Front Robot AI. 2019 Jul 16;6:56. doi: 10.3389/frobt.2019.00056. eCollection 2019.

DOI:10.3389/frobt.2019.00056
PMID:33501071
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7805956/
Abstract

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.

摘要

提出了一种新算法，用于估计机器人辅助微创手术中的工具-组织力相互作用，该算法无需使用外力传感。所提出的方法利用手术器械电机的电流和神经网络方法来估计力相互作用。进行了离线和在线测试，以评估所开发算法的可行性。结果表明，所开发的方法有望实现工具-组织力的在线估计，从而能够在机器人手术中提供触觉反馈。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/9b0ad7851ec4/frobt-06-00056-g0012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/18c1df2b7bfb/frobt-06-00056-g0001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/c31c012cc223/frobt-06-00056-g0002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/0712ad6c74f4/frobt-06-00056-g0003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/8949df41787a/frobt-06-00056-g0004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/6d25a683d0e2/frobt-06-00056-g0005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/b37c38670a02/frobt-06-00056-g0006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/a73e397d4d6e/frobt-06-00056-g0007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/e1a9552d3af5/frobt-06-00056-g0008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/b7a9db1df059/frobt-06-00056-g0009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/f097445f539e/frobt-06-00056-g0010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/29ca8ea983e5/frobt-06-00056-g0011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/9b0ad7851ec4/frobt-06-00056-g0012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/18c1df2b7bfb/frobt-06-00056-g0001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/c31c012cc223/frobt-06-00056-g0002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/0712ad6c74f4/frobt-06-00056-g0003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/8949df41787a/frobt-06-00056-g0004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/6d25a683d0e2/frobt-06-00056-g0005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/b37c38670a02/frobt-06-00056-g0006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/a73e397d4d6e/frobt-06-00056-g0007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/e1a9552d3af5/frobt-06-00056-g0008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/b7a9db1df059/frobt-06-00056-g0009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/f097445f539e/frobt-06-00056-g0010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/29ca8ea983e5/frobt-06-00056-g0011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/5cf1/7805956/9b0ad7851ec4/frobt-06-00056-g0012.jpg

相似文献

1
Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks.使用神经网络估计机器人辅助微创手术中的工具-组织力。
Front Robot AI. 2019 Jul 16;6:56. doi: 10.3389/frobt.2019.00056. eCollection 2019.
2
Estimating Tool-Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool.使用三自由度机器人手术工具估计工具与组织间的力。
J Mech Robot. 2016 Oct;8(5):0510151-5101510. doi: 10.1115/1.4032591. Epub 2016 May 4.
3
Sensorless Force Sensing for Minimally Invasive Surgery.用于微创手术的无传感器力传感
J Med Device. 2015 Dec;9(4):0410121-4101214. doi: 10.1115/1.4031282. Epub 2015 Oct 15.
4
Providing haptic feedback in robot-assisted minimally invasive surgery: a direct optical force-sensing solution for haptic rendering of deformable bodies.在机器人辅助微创手术中提供触觉反馈：一种用于可变形物体触觉渲染的直接光学力传感解决方案。
Comput Aided Surg. 2013;18(5-6):129-41. doi: 10.3109/10929088.2013.839744.
5
Vision-Based Suture Tensile Force Estimation in Robotic Surgery.基于视觉的机器人手术缝线张力估计。
Sensors (Basel). 2020 Dec 26;21(1):110. doi: 10.3390/s21010110.
6
A Force-Feedback Methodology for Teleoperated Suturing Task in Robotic-Assisted Minimally Invasive Surgery.力反馈在机器人辅助微创手术远程缝合任务中的应用方法。
Sensors (Basel). 2022 Oct 14;22(20):7829. doi: 10.3390/s22207829.
7
Effects of realistic force feedback in a robotic assisted minimally invasive surgery system.机器人辅助微创手术系统中逼真力反馈的作用
Minim Invasive Ther Allied Technol. 2014 Jun;23(3):127-35. doi: 10.3109/13645706.2013.867886. Epub 2013 Dec 12.
8
Role of combined tactile and kinesthetic feedback in minimally invasive surgery.触觉与动觉联合反馈在微创手术中的作用。
Int J Med Robot. 2015 Sep;11(3):360-374. doi: 10.1002/rcs.1625. Epub 2014 Oct 18.
9
External force estimation and implementation in robotically assisted minimally invasive surgery.机器人辅助微创手术中的外力估计与实现
Int J Med Robot. 2017 Jun;13(2). doi: 10.1002/rcs.1824. Epub 2017 May 3.
10
Enhanced grip force estimation in robotic surgery: A sparrow search algorithm-optimized backpropagation neural network approach.机器人手术中增强的握力估计：一种麻雀搜索算法优化的反向传播神经网络方法。
Math Biosci Eng. 2024 Feb 5;21(3):3519-3539. doi: 10.3934/mbe.2024155.

引用本文的文献

1
Robust prediction of tool-tissue interaction force using ISSA-optimized BP neural networks in robotic surgery.在机器人手术中使用ISSA优化的BP神经网络对工具-组织相互作用力进行稳健预测。
BMC Surg. 2025 Aug 12;25(1):368. doi: 10.1186/s12893-025-03121-2.
2
Visual cues of soft-tissue behaviour in minimal-invasive and robotic surgery.微创和机器人手术中软组织行为的视觉线索。
J Robot Surg. 2024 Nov 7;18(1):401. doi: 10.1007/s11701-024-02150-y.
3
A Sensorised Surgical Glove to Analyze Forces During Neurosurgery.一种用于分析神经外科手术中力量的传感器手术手套。

本文引用的文献

1
Gaussian Process Regression for Sensorless Grip Force Estimation of Cable Driven Elongated Surgical Instruments.用于电缆驱动细长型手术器械无传感器握力估计的高斯过程回归
IEEE Robot Autom Lett. 2017 Jul;2(3):1312-1319. doi: 10.1109/LRA.2017.2666420. Epub 2017 Feb 8.
2
External force estimation and implementation in robotically assisted minimally invasive surgery.机器人辅助微创手术中的外力估计与实现
Int J Med Robot. 2017 Jun;13(2). doi: 10.1002/rcs.1824. Epub 2017 May 3.
3
Towards Retrieving Force Feedback in Robotic-Assisted Surgery: A Supervised Neuro-Recurrent-Vision Approach.
Neurosurgery. 2023 Mar 1;92(3):639-646. doi: 10.1227/neu.0000000000002239. Epub 2022 Dec 12.
4
Interactive 3D Force/Torque Parameter Acquisition and Correlation Identification during Primary Trocar Insertion in Laparoscopic Abdominal Surgery: 5 Cases.腹腔镜腹部手术中主套管插入过程中的交互 3D 力/扭矩参数采集和相关识别：5 例。
Sensors (Basel). 2022 Nov 19;22(22):8970. doi: 10.3390/s22228970.
5
A Force-Feedback Methodology for Teleoperated Suturing Task in Robotic-Assisted Minimally Invasive Surgery.力反馈在机器人辅助微创手术远程缝合任务中的应用方法。
Sensors (Basel). 2022 Oct 14;22(20):7829. doi: 10.3390/s22207829.
6
Non-Technical Skill Assessment and Mental Load Evaluation in Robot-Assisted Minimally Invasive Surgery.机器人辅助微创手术中的非技术技能评估和心理负荷评估。
Sensors (Basel). 2021 Apr 10;21(8):2666. doi: 10.3390/s21082666.
面向机器人辅助手术中力反馈的恢复：一种监督神经递归视觉方法。
IEEE Trans Haptics. 2017 Jul-Sep;10(3):431-443. doi: 10.1109/TOH.2016.2640289. Epub 2016 Dec 15.
4
Sensorless Force Sensing for Minimally Invasive Surgery.用于微创手术的无传感器力传感
J Med Device. 2015 Dec;9(4):0410121-4101214. doi: 10.1115/1.4031282. Epub 2015 Oct 15.
5
Haptic feedback in robot-assisted minimally invasive surgery.机器人辅助微创手术中的触觉反馈
Curr Opin Urol. 2009 Jan;19(1):102-7. doi: 10.1097/MOU.0b013e32831a478c.
6
Force modeling for needle insertion into soft tissue.软组织中针插入的力建模。
IEEE Trans Biomed Eng. 2004 Oct;51(10):1707-16. doi: 10.1109/TBME.2004.831542.
7
Robotic surgery: a current perspective.机器人手术：当前视角
Ann Surg. 2004 Jan;239(1):14-21. doi: 10.1097/01.sla.0000103020.19595.7d.