Soft tissue characterisation using a force feedback-enabled instrument for robotic assisted minimally invasive surgery systems Dalvand, Mohsen Moradi, Shirinzadeh, Bijan, Nahavandi, Saeid, Karimirad, Fatemeh and Smith,Julian 2014, Soft tissue characterisation using a force feedback-enabled instrument for robotic assisted minimally invasive surgery systems. In Kim, H. K., Ao, S-I. and Amouzegar, M. A. (ed), Transactions on Engineering Technologies, Springer, Amsterdam, The Netherlands, pp.473-484, doi: 10.1007/978-94-017-9115-1. Attached Files Name Description MIMEType Size Downloads Title Soft tissue characterisation using a force feedback-enabled instrument for robotic assisted minimally invasive surgery systems Author(s) Dalvand, Mohsen Moradi Shirinzadeh, Bijan Nahavandi, Saeid Karimirad, Fatemeh Smith,Julian Title of book Transactions on Engineering Technologies Editor(s) Kim, H. K. Ao, S-I. Amouzegar, M. A. Publication date 2014 Chapter number 36 Total chapters 56 Start page 473 End page 484 Total pages 11 Publisher Springer Place of Publication Amsterdam, The Netherlands Keyword(s) actuation mechanism force measurement laparoscopic instrument modularity power transmission mechanism robotic assisted minimally invasive surgery (RAMIS) strain gages Summary An automated laparoscopic instrument capable of non-invasivemeasurement of tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems is introduced in this chapter. 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 thispaper 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 chapter. 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 9789401791144 Language eng DOI 10.1007/978-94-017-9115-1 Field of Research 091007 Manufacturing Robotics and Mechatronics (excl Automotive Mechatronics) Socio Economic Objective 970109 Expanding Knowledge in Engineering HERDC Research category B1 Book chapter ERA Research output type B Book chapter Copyright notice ©2014, Springer Science+Business Media Persistent URL http://hdl.handle.net/10536/DRO/DU:30073039 Document type: Book Chapter Collection: Centre for Intelligent Systems Research Related Links Link Description Connect to Elements publication management system Go to link with your DU access privileges   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. Versions Version Filter Type Thu, 07 May 2015, 09:19:44 EST Fri, 08 May 2015, 05:02:24 EST Fri, 08 May 2015, 08:17:31 EST Fri, 15 May 2015, 12:32:41 EST Fri, 15 May 2015, 12:33:13 EST Fri, 15 May 2015, 12:46:29 EST Mon, 18 May 2015, 15:01:41 EST Mon, 18 May 2015, 15:12:19 EST Mon, 18 May 2015, 16:32:46 EST Wed, 09 Nov 2016, 12:04:53 EST Wed, 21 Dec 2016, 13:36:17 EST Wed, 11 Jan 2017, 09:51:31 EST Filtered Full Citation counts:   Cited 0 times in TR Web of Science Cited 0 times in Scopus Search Google Scholar Access Statistics: 184 Abstract Views, 5 File Downloads  -  Detailed Statistics Created: Fri, 15 May 2015, 12:33:13 EST

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