Review of tool-tissue interaction models for robotic surgery applications

Árpád Takács, Sándor Jordán, Radu Emil Precup, Levente Kovács, József Tar, Imre Rudas, Tamás Haidegger

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

9 Citations (Scopus)

Abstract

Besides the motion control issues and problems arising in general robotic applications, control engineers frequently encounter difficulties in designing robotic surgery systems due to the complex environmental constraints present. One of the most challenging problems is caused by the unique behavior of soft tissues under manipulations such as grabbing, cutting and indentation. The appropriate modeling of the interaction between the tools held by the robotic arm and tissues is essential for precise control, yet no generally applicable, universal model has been developed so far. This paper gives an overview of the existing tool-tissue interaction models and possible approaches to the parameterization problem, listing and reviewing several models found in the literature. We reviewed the problem within the frames of a theoretical master-slave teleoperation surgical robot, where exact mathematical model of the soft tissue is essential for effective control over a time-delayed communication channel.

Original languageEnglish
Title of host publicationSAMI 2014 - IEEE 12th International Symposium on Applied Machine Intelligence and Informatics, Proceedings
PublisherIEEE Computer Society
Pages339-344
Number of pages6
ISBN (Print)9781479934423
DOIs
Publication statusPublished - Jan 1 2014
Event12th IEEE International Symposium on Applied Machine Intelligence and Informatics, SAMI 2014 - Herl'any, Slovakia
Duration: Jan 23 2014Jan 25 2014

Publication series

NameSAMI 2014 - IEEE 12th International Symposium on Applied Machine Intelligence and Informatics, Proceedings

Other

Other12th IEEE International Symposium on Applied Machine Intelligence and Informatics, SAMI 2014
CountrySlovakia
CityHerl'any
Period1/23/141/25/14

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Keywords

  • Telesurgery
  • Time delay
  • Tissue modeling
  • Tool-tissue interactions

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

Cite this

Takács, Á., Jordán, S., Precup, R. E., Kovács, L., Tar, J., Rudas, I., & Haidegger, T. (2014). Review of tool-tissue interaction models for robotic surgery applications. In SAMI 2014 - IEEE 12th International Symposium on Applied Machine Intelligence and Informatics, Proceedings (pp. 339-344). [6822435] (SAMI 2014 - IEEE 12th International Symposium on Applied Machine Intelligence and Informatics, Proceedings). IEEE Computer Society. https://doi.org/10.1109/SAMI.2014.6822435