Abstract
Robotic surgery is a new technology in medical applications and has been undergoing rapid development. The surgical knife, essential for robotic surgery, has the ability to determine the success of an operation. In this paper, on the basis of the principle of field-effect transistors (FETs), a perceptual surgical knife is proposed to detect the electrons or electric field of the human body with distinguishable signals. In addition, it is difficult to discriminate between the motions of surgical knives from the perceptual signals that are disturbed by high-frequency Gaussian white noise. Therefore, the wavelet denoising approach is chosen to reduce the high-frequency noise. The proposed perceptual surgical knife with the wavelet denoising method has the characteristics of high sensitivity, low cost, and good repeatability.
Highlights
The advent of robotic surgery has promoted the development of the tool–tissue interaction technique [1]
The received signals from the surgical knife were noisy compared to the signals with the wavelet denoising approach, and six tapping peaks were distinguished in the results of the tapping experiment with the wavelet denoising method
The second tap of just 0.00925 N more than the first tap was detected by the surgical knife. These results indicate that the measurement limit of the surgical knife is 0.0649 N, which validates the high sensitivity of the perceptual surgical knife
Summary
The advent of robotic surgery has promoted the development of the tool–tissue interaction technique [1]. The critical component of a surgical robot is the perceptual sensor that provides different surgery information about the tissues. Taking vascular surgery as an example, it is difficult for the operator to determine whether the surgical knife or scalpel touches the blood vessels. In this case, any improper contact with the blood vessel will lead to intraoperative or postoperative hemorrhage [2]. Some tool–tissue interaction interfaces have been studied by using scissors, surgical knives, syringes, and so forth with the goal of haptic sensation
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