Robotic-assisted minimally invasive surgery has demonstrated its benefits in comparison with traditional procedures. However, one of the major drawbacks of current robotic system approaches is the lack of force feedback. Apart from space restrictions, the main problems of using force sensors are their high cost and the biocompatibility. In this work a proposal based on Vision Based Force Measurement is presented, in which the deformation mapping of the tissue is obtained using the L2-Regularized Optimization class, and the force is estimated via a recurrent neural network that has as inputs the kinematic variables and the deformation mapping. Moreover, the capability of RNN for predicting time series is used in order to deal with tool occlusions. The highlights of this proposal, according to the results, are: knowledge of material properties are not necessary, there is no need of adding extra sensors and a good trade-off between accuracy and efficiency has been achieved.

Peer Reviewed