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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.

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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
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