ArticleIEEE robotics and automation letters2017
Gaussian Process Regression for Sensorless Grip Force Estimation of Cable Driven Elongated Surgical Instruments.
Article in IEEE robotics and automation letters, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 15 papers.
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Who cites it
15 citing papers in PubMed.
- A Two-Stage Grip Force Estimation Method for Surgical Robots Based on BiLSTM-iTransformer.Annals of the New York Academy of Sciences · 2026Article
- Deformable and Fragile Object Manipulation: A Review and Prospects.Sensors (Basel, Switzerland) · 2025Review
- Three-Dimensional Dense Reconstruction: A Review of Algorithms and Datasets.Sensors (Basel, Switzerland) · 2024Review
- Deep causal learning for robotic intelligence.Frontiers in neurorobotics · 2023Review
- Real-time virtual intraoperative CT in endoscopic sinus surgery.International journal of computer assisted radiology and surgery · 2022Article
- Stiffness Assessment and Lump Detection in Minimally Invasive Surgery Using In-House Developed Smart Laparoscopic Forceps.IEEE journal of translational engineering in health and medicine · 2022Article
- A Clamping Force Estimation Method Based on a Joint Torque Disturbance Observer Using PSO-BPNN for Cable-Driven Surgical Robot End-Effectors.Sensors (Basel, Switzerland) · 2019Article
- An Efficient Three-Dimensional Convolutional Neural Network for Inferring Physical Interaction Force from Video.Sensors (Basel, Switzerland) · 2019Article
- A Model-Based Recurrent Neural Network With Randomness for Efficient Control With Applications.IEEE transactions on industrial informatics · 2019Article
- Estimation of Tool-Tissue Forces in Robot-Assisted Minimally Invasive Surgery Using Neural Networks.Frontiers in robotics and AI · 2019Article
- Surgeon-Centered Analysis of Robot-Assisted Needle Driving Under Different Force Feedback Conditions.Frontiers in neurorobotics · 2019Article
- Conditions for reliable grip force and jaw angle estimation of da Vinci surgical tools.International journal of computer assisted radiology and surgery · 2019Article
- Design and Evaluation of FBG-Based Tension Sensor in Laparoscope Surgical Robots.Sensors (Basel, Switzerland) · 2018Article
- Blended shared control utilizing online identification : Regulating grasping forces of a surrogate surgical grasper.International journal of computer assisted radiology and surgery · 2018Article
- Inferring Interaction Force from Visual Information without Using Physical Force Sensors.Sensors (Basel, Switzerland) · 2017Article
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2 authors.
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Abstract
Haptic feedback is a critical but a clinically missing component in robotic Minimally Invasive Surgeries. This paper proposes a Gaussian Process Regression(GPR) based scheme to address the gripping force estimation problem for clinically commonly used elongated cable-driven surgical instruments. Based on the cable-driven mechanism property studies and surgical robotic system properties, four different Gaussian Process Regression filters were designed and analyzed, including: one GPR filter with 2-dimensional inputs, one GPR filter with 3-dimensional inputs, one GPR Unscented Kalman Filter (UKF) with 2-dimensional inputs, and one GPR UKF with 3-dimensional inputs. The four proposed methods were compared with the dynamic model based UKF filter on a 10mm gripper on the Raven-II surgical robot platform. The experimental results demonstrated that the four proposed methods outperformed the dynamic model based method on precision and reliability without parameter tuning. And surprisingly, among the four methods, the simplest GPR Filter with 2-dimensional inputs has the best performance.
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