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Sight to touch: 3D diffeomorphic deformation recovery with mixture components for perceiving forces in robotic-assisted surgery

Author
Avilés, A.; Alsaleh, S.; Casals, A.
Type of activity
Presentation of work at congresses
Name of edition
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems
Date of publication
2017
Presentation's date
2017-09-26
Book of congress proceedings
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): 24-28 Sept. 2017
First page
160
Last page
165
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/IROS.2017.8202152 Open in new window
Repository
http://hdl.handle.net/2117/114875 Open in new window
URL
http://ieeexplore.ieee.org/document/8202152/ Open in new window
Abstract
Robotic-assisted minimally invasive surgical sys-tems suffer from one major limitation which is the lack of interaction forces feedback. The restricted sense of touch hinders the surgeons’ performance and reduces their dexterity and precision during a procedure. In this work, we present a sensory substitution approach that relies on visual stimuli to transmit the tool-tissue interaction forces to the operating surgeon. Our approach combines a 3D diffeomorphic defor-mation mapping with a genera...
Citation
Avilés, A., Alsaleh, S., Casals, A. Sight to touch: 3D diffeomorphic deformation recovery with mixture components for perceiving forces in robotic-assisted surgery. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): 24-28 Sept. 2017". Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 160-165.
Keywords
Robot assisted minimally invasive surgery, Topology preservation, Vision based force estimation
Group of research
CREB - Biomedical Engineering Research Centre
GRINS - Intelligent Robots and Systems

Participants

  • Avilés Rivero, Angélica  (author and speaker )
  • Alsaleh, Samar M.  (author and speaker )
  • Casals Gelpi, Alicia  (author and speaker )

Attachments