A Study on Detection and Localization of Different Sensors in Surgical Robots
DOI:
https://doi.org/10.54097/849g9f66Keywords:
Surgical Robot, Sensor, Detection, Localization.Abstract
Today's surgical robotic systems are utilizing a wide variety of sensors (force sensors, acceleration sensors, electromagnetic sensors, Hall sensors, etc.). Different types of sensors serve different purposes, and they make the system of the surgical robot larger and more precise and also increase the amount of available information for the surgery to give the healer good surgical conditions. This paper aims to analyze the effectiveness of sensors in 8 surgical robots. This text concludes that the sensors enable the surgical robot to perform the function of force detection and function of localization. For pressure detection, there are not only piezo resistors that form a full-bridge circuit but also sensors that mix piezo resistors with optical fibers. For localization, there are not only stereo cameras but also localization methods that use external markers. The combination of the two key functions enables the surgical robot to provide feedback on the magnitude and exact position of the force, making the surgery more precise and complete.
Downloads
References
[1] Ryu, J. M., Lee, J., Lee, J., Ko, B., Kim, J. H., Shin, H., Park, H. S., & Korea Robot-endoscopy Minimal Access Breast Surgery Study Group (KoREa-BSG) (2023). Mastectomy with Reconstruction Including Robotic Endoscopic Surgery (MARRES): a prospective cohort study of the Korea Robot-Endoscopy Minimal Access Breast Surgery Study Group (KoREa-BSG) and Korean Breast Cancer Study Group (KBCSG). BMC cancer, 23 (1), 571. https://doi.org/10.1186/s12885 - 023 - 10978 - 0.
[2] Mukherjee, S., Kaess, M., Martel, J. N., & Riviere, C. N. (2019). EyeSAM: graph-based localization and mapping of retinal vasculature during intraocular microsurgery. International journal of computer assisted radiology and surgery, 14 (5), 819 – 828. https://doi.org/10.1007/s11548 - 019 - 01925 - 1.
[3] Bandari, N. M., Ahmadi, R., Hooshiar, A., Dargahi, J., & Packirisamy, M. (2017). Hybrid piezoresistive-optical tactile sensor for simultaneous measurement of tissue stiffness and detection of tissue discontinuity in robot-assisted minimally invasive surgery. Journal of biomedical optics, 22 (7), 77002. https://doi.org/10.1117/1.JBO.22.7.077002.
[4] Zhang, Y., Ju, F., Wei, X., Wang, D., & Wang, Y. (2020). A Piezoelectric Tactile Sensor for Tissue Stiffness Detection with Arbitrary Contact Angle. Sensors (Basel, Switzerland), 20 (22), 6607. https://doi.org/10.3390/s20226607.
[5] Chua, Z., & Okamura, A. M. (2023). A Modular 3-Degrees-of-Freedom Force Sensor for Robot-Assisted Minimally Invasive Surgery Research. Sensors (Basel, Switzerland), 23 (11), 5230. https://doi.org/10.3390/s23115230.
[6] Hou, C., Gao, H., Yang, X., Xue, G., Zuo, X., Li, Y., Li, D., Lu, B., Ren, H., Liu, H., & Sun, L. (2024). A piezoresistive-based 3-axial MEMS tactile sensor and integrated surgical forceps for gastrointestinal endoscopic minimally invasive surgery. Microsystems & nanoengineering, 10 (1), 141. https://doi.org/10.1038/s41378 - 024 - 00774 - 6.
[7] Liu, C., Shi, C., Wang, T., Zhang, H., Jing, L., Jin, X., Xu, J., & Wang, H. (2021). Bio-inspired multimodal 3D endoscope for image-guided and robotic surgery. Optics express, 29 (1), 145 – 157. https://doi.org/10.1364/OE.410424.
[8] Kim, M. C., Kim, E. S., Park, J. O., Choi, E., & Kim, C. S. (2020). Robotic Localization Based on Planar Cable Robot and Hall Sensor Array Applied to Magnetic Capsule Endoscope. Sensors (Basel, Switzerland), 20 (20), 5728. https://doi.org/10.3390/s20205728.
[9] Li Qianqian. (2020). Vision Navigation and trajectory Planning for Orthognathic Assisted Robot (Dissertation for Doctoral Degree, Shandong University) Doctor https://link.cnki.net/doi/10.27272/d.cnki.gshdu.2020.003922 doi: 10.27272/d.cnki.gshdu.2020.003922.
[10] Fan, N., Yuan, S., Du, P., Zhu, W., Li, L., Hai, Y., Ding, H., Wang, G., & Zang, L. (2020). Design of a robot-assisted system for transforaminal percutaneous endoscopic lumbar surgeries: study protocol. Journal of orthopaedic surgery and research, 15 (1), 479. https://doi.org/10.1186/s13018 - 020 - 02003 - y.
Downloads
Published
Issue
Section
License
Copyright (c) 2025 Highlights in Science, Engineering and Technology
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
How to Cite
