Force measurement capability for robotic assisted minimally invasive surgery systems Dalvand, Mohsen Moradi, Shirinzadeh, Bijan, Nahavandi Saeid, Karimirad, Fatemeh and Smith, Julian 2013, Force measurement capability for robotic assisted minimally invasive surgery systems, in WCECS 2013 : Proceedings of the World Congress on Engineering and Computer Science, Newswood Limited, Hong Kong, pp. 419-424. Attached Files Name Description MIMEType Size Downloads dalvand-forcemeasurement-2013.pdf Published version application/pdf 4.55MB 30 Title Force measurement capability for robotic assisted minimally invasive surgery systems Author(s) Dalvand, Mohsen Moradi Shirinzadeh, Bijan Nahavandi Saeid Karimirad, Fatemeh Smith, Julian Conference name Intelligent Automation and Robotics. Conference (2013 : San Francisco, California) Conference location San Francisco, California Conference dates 23-25 Oct. 2013 Title of proceedings WCECS 2013 : Proceedings of the World Congress on Engineering and Computer Science Editor(s) Ao, S.I. Douglas, Craig Grundfest, W.S. Burgstone, Jon Publication date 2013 Series Lecture notes in Engineering and Computer Science v.1 Conference series Intelligent Automation and Robotics Conference Start page 419 End page 424 Total pages 6 Publisher Newswood Limited Place of publication Hong Kong Keyword(s) Robotic Assisted Minimally Invasive Surgery (RAMIS) Force Measurement Laparoscopic Instrument Transmission Mechanism Strain Gages Modularity Actuation Mechanism Summary An automated laparoscopic instrument capable of non-invasive measurement of tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems_ is introduced in this paper. It has the capability to measure normal grasping forces as well as lateral interaction forces without any sensor mounted on the tip jaws. Further to non-invasive actuation of the tip, the proposed instrument is also able to change the grasping direction during surgical operation. Modular design of the instrument allows conversion between surgical modalities (e.g., grasping, cutting, and dissecting). The main focus of this paper is on evaluation of the grasping force capability of the proposed instrument. The mathematical formulation of fenestrated insert is presented and its non-linear behaviour is studied. In order to measure the stiffness of soft tissues, a device was developed that is also described in this paper. Tissue characterisation experiments were conducted and results are presented and analysed here. The experimental results verify the capability of the proposed instrument in accurately measuring grasping forces and in characterising artificial tissue samples of varying stiffness. ISBN 9789881925237 ISSN 2078-0958 2078-0966 Language eng Field of Research 090602 Control Systems, Robotics and Automation Socio Economic Objective 970109 Expanding Knowledge in Engineering HERDC Research category E1.1 Full written paper - refereed Copyright notice ©2013, Newswood Limited Persistent URL http://hdl.handle.net/10536/DRO/DU:30064552 Document type: Conference Paper Collections: Centre for Intelligent Systems Research Open Access Collection Related Links Link Description Connect to published version Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au. Versions Version Filter Type Wed, 18 Jun 2014, 15:47:19 EST Wed, 18 Jun 2014, 16:48:31 EST Wed, 18 Jun 2014, 16:49:54 EST Wed, 18 Jun 2014, 16:51:31 EST Fri, 04 Jul 2014, 10:27:01 EST Wed, 21 Oct 2015, 15:06:51 EST Wed, 21 Oct 2015, 19:18:36 EST Wed, 07 Sep 2016, 07:13:55 EST Filtered Full Citation counts:   Cited 0 times in TR Web of Science Cited 0 times in Scopus Search Google Scholar Access Statistics: 262 Abstract Views, 33 File Downloads  -  Detailed Statistics Created: Wed, 18 Jun 2014, 15:46:58 EST by Barb Robertson

Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.