najdovski-modularinstrument-2018.pdf (6.07 MB)
Modular instrument for a haptically-enabled robotic surgical system (HeroSurg)
journal contribution
posted on 2018-01-01, 00:00 authored by Mohsen Moradi DalvandMohsen Moradi Dalvand, Saeid Nahavandi, Michael FieldingMichael Fielding, James MullinsJames Mullins, Zoran NajdovskiZoran Najdovski, R D HoweTo restore the sense of touch in robotic surgical systems, a modular force feedback-enabled laparoscopic instrument is developed and employed in a robotic-assisted minimally invasive surgical system (HeroSurg). Strain gauge technology is incorporated into the instrument to measure tip/tissue lateral interaction forces. The modularity feature of the proposed instrument makes it interchangeable between various tip types of different functionalities, e.g., cutter, grasper, and dissector, without losing force sensing capability. Series of experiments are conducted and results are reported to evaluate force sensing capability of the instrument. The results reveal mean errors of 1.32 g and 1.98° in the measurements of tip/tissue load magnitude and direction across all experiments, respectively.
History
Journal
IEEE accessVolume
6Pagination
31974 - 31982Publisher
Institute of Electrical and Electronics EngineersLocation
Piscataway, N.J.Publisher DOI
Link to full text
eISSN
2169-3536Language
engPublication classification
C1 Refereed article in a scholarly journalCopyright notice
2018, IEEEUsage metrics
Categories
Keywords
Surgical instrumentsforce feedbackcalibrationstrain measurementsurgical robotics modularityScience & TechnologyTechnologyComputer Science, Information SystemsEngineering, Electrical & ElectronicTelecommunicationsComputer ScienceEngineeringMINIMALLY INVASIVE SURGERYFORCE-SENSING INSTRUMENTGRIP FORCEFEEDBACKSimulation and Modelling
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