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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.

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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
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