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Novel uniaxial force sensor based on visual information for minimally invasive surgery

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

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Novel uniaxial force sensor based on visual information for minimally invasive surgery. / Faragasso, A.; Bimbo, J.; Noh, Y.; Jiang, A.; Sareh, S.; Liu, H; Nanayakkara, T.; Wurdemann, H. A.; Althoefer, K.

Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1405-1410 6907036.

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

Harvard

Faragasso, A, Bimbo, J, Noh, Y, Jiang, A, Sareh, S, Liu, H, Nanayakkara, T, Wurdemann, HA & Althoefer, K 2014, Novel uniaxial force sensor based on visual information for minimally invasive surgery. in Proceedings - IEEE International Conference on Robotics and Automation., 6907036, Institute of Electrical and Electronics Engineers Inc., pp. 1405-1410, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/2014. https://doi.org/10.1109/ICRA.2014.6907036

APA

Faragasso, A., Bimbo, J., Noh, Y., Jiang, A., Sareh, S., Liu, H., Nanayakkara, T., Wurdemann, H. A., & Althoefer, K. (2014). Novel uniaxial force sensor based on visual information for minimally invasive surgery. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1405-1410). [6907036] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907036

Vancouver

Faragasso A, Bimbo J, Noh Y, Jiang A, Sareh S, Liu H et al. Novel uniaxial force sensor based on visual information for minimally invasive surgery. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1405-1410. 6907036 https://doi.org/10.1109/ICRA.2014.6907036

Author

Faragasso, A. ; Bimbo, J. ; Noh, Y. ; Jiang, A. ; Sareh, S. ; Liu, H ; Nanayakkara, T. ; Wurdemann, H. A. ; Althoefer, K. / Novel uniaxial force sensor based on visual information for minimally invasive surgery. Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1405-1410

Bibtex Download

@inbook{4b8da912e4ae478cadc381b8b6fe71b2,
title = "Novel uniaxial force sensor based on visual information for minimally invasive surgery",
abstract = "This paper presents an innovative approach of utilising visual feedback to determine physical interaction forces with soft tissue during Minimally Invasive Surgery (MIS). This novel force sensing device is composed of a linear retractable mechanism and a spherical visual feature. The sensor mechanism can be adapted to endoscopic cameras used in MIS. As the distance between the camera and feature varies due to the sliding joint, interaction forces with anatomical surfaces can be computed based on the visual appearance of the feature in the image. Hence, this device allows the measurement of forces without introducing new stand-alone sensors. A mathematical model was derived based on validation data tests and preliminary experiments were conducted to verify the model's accuracy. Experimental results confirm the effectiveness of our vision based approach.",
author = "A. Faragasso and J. Bimbo and Y. Noh and A. Jiang and S. Sareh and H Liu and T. Nanayakkara and Wurdemann, {H. A.} and K. Althoefer",
year = "2014",
month = sep,
day = "22",
doi = "10.1109/ICRA.2014.6907036",
language = "English",
pages = "1405--1410",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
note = "2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",

}

RIS (suitable for import to EndNote) Download

TY - CHAP

T1 - Novel uniaxial force sensor based on visual information for minimally invasive surgery

AU - Faragasso, A.

AU - Bimbo, J.

AU - Noh, Y.

AU - Jiang, A.

AU - Sareh, S.

AU - Liu, H

AU - Nanayakkara, T.

AU - Wurdemann, H. A.

AU - Althoefer, K.

PY - 2014/9/22

Y1 - 2014/9/22

N2 - This paper presents an innovative approach of utilising visual feedback to determine physical interaction forces with soft tissue during Minimally Invasive Surgery (MIS). This novel force sensing device is composed of a linear retractable mechanism and a spherical visual feature. The sensor mechanism can be adapted to endoscopic cameras used in MIS. As the distance between the camera and feature varies due to the sliding joint, interaction forces with anatomical surfaces can be computed based on the visual appearance of the feature in the image. Hence, this device allows the measurement of forces without introducing new stand-alone sensors. A mathematical model was derived based on validation data tests and preliminary experiments were conducted to verify the model's accuracy. Experimental results confirm the effectiveness of our vision based approach.

AB - This paper presents an innovative approach of utilising visual feedback to determine physical interaction forces with soft tissue during Minimally Invasive Surgery (MIS). This novel force sensing device is composed of a linear retractable mechanism and a spherical visual feature. The sensor mechanism can be adapted to endoscopic cameras used in MIS. As the distance between the camera and feature varies due to the sliding joint, interaction forces with anatomical surfaces can be computed based on the visual appearance of the feature in the image. Hence, this device allows the measurement of forces without introducing new stand-alone sensors. A mathematical model was derived based on validation data tests and preliminary experiments were conducted to verify the model's accuracy. Experimental results confirm the effectiveness of our vision based approach.

UR - http://www.scopus.com/inward/record.url?scp=84929180234&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2014.6907036

DO - 10.1109/ICRA.2014.6907036

M3 - Conference paper

AN - SCOPUS:84929180234

SP - 1405

EP - 1410

BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014

Y2 - 31 May 2014 through 7 June 2014

ER -

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