Force modeling, identification, and feedback control of robot-assisted needle insertion : A survey of the literature

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)62_Review of books or of software (or similar publications/items)peer-review

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Detail(s)

Original languageEnglish
Article number561
Journal / PublicationSensors (Switzerland)
Volume18
Issue number2
Online published12 Feb 2018
Publication statusPublished - Feb 2018

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Abstract

Robot-assisted surgery is of growing interest in the surgical and engineering communities. The use of robots allows surgery to be performed with precision using smaller instruments and incisions, resulting in shorter healing times. However, using current technology, an operator cannot directly feel the operation because the surgeon-instrument and instrument-tissue interaction force feedbacks are lost during needle insertion. Advancements in force feedback and control not only help reduce tissue deformation and needle deflection but also provide the surgeon with better control over the surgical instruments. The goal of this review is to summarize the key components surrounding the force feedback and control during robot-assisted needle insertion. The literature search was conducted during the middle months of 2017 using mainstream academic search engines with a combination of keywords relevant to the field. In total, 166 articles with valuable contents were analyzed and grouped into five related topics. This survey systemically summarizes the state-of-the-art force control technologies for robot-assisted needle insertion, such as force modeling, measurement, the factors that influence the interaction force, parameter identification, and force control algorithms. All studies show force control is still at its initial stage. The influence factors, needle deflection or planning remain open for investigation in future.

Research Area(s)

  • Force control, Force measurement, Force modeling, Needle insertion, Parameter identification

Citation Format(s)

Force modeling, identification, and feedback control of robot-assisted needle insertion: A survey of the literature. / Yang, Chongjun; Xie, Yu; Liu, Shuang et al.
In: Sensors (Switzerland), Vol. 18, No. 2, 561, 02.2018.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)62_Review of books or of software (or similar publications/items)peer-review

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