Modular instrument for a haptically-enabled robotic surgical system (HeroSurg) Moradi Dalvand, Mohsen, Nahavandi, Saeid, Fielding, Michael, Mullins, James, Najdovski, Zoran and Howe, Robert D 2018, Modular instrument for a haptically-enabled robotic surgical system (HeroSurg), IEEE access, vol. 6, pp. 31974-31982, doi: 10.1109/ACCESS.2018.2844563. Attached Files Name Description MIMEType Size Downloads najdovski-modularinstrument-2018.pdf Published version application/pdf 6.07MB 45 Title Modular instrument for a haptically-enabled robotic surgical system (HeroSurg) Author(s) Moradi Dalvand, Mohsen Nahavandi, Saeid orcid.org/0000-0002-0360-5270 Fielding, Michael orcid.org/0000-0001-7569-8499 Mullins, James Najdovski, Zoran orcid.org/0000-0002-8880-8287 Howe, Robert D Journal name IEEE access Volume number 6 Start page 31974 End page 31982 Total pages 9 Publisher Institute of Electrical and Electronics Engineers Place of publication Piscataway, N.J. Publication date 2018 ISSN 2169-3536 Keyword(s) surgical instruments force feedback calibration strain measurement surgical robotics modularity science & technology technology computer science, information systems engineering, electrical & electronic telecommunications computer science engineering Summary To 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. Language eng DOI 10.1109/ACCESS.2018.2844563 Indigenous content off HERDC Research category C1 Refereed article in a scholarly journal Copyright notice ©2018, IEEE Free to Read? Yes Persistent URL http://hdl.handle.net/10536/DRO/DU:30110991 Document type: Journal Article Collections: Institute for Intelligent Systems Research and Innovation (IISRI) Open Access Collection Related Links Link Description Connect to published version (open access) 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 Thu, 12 Jul 2018, 10:01:33 EST Fri, 13 Jul 2018, 05:01:57 EST Fri, 13 Jul 2018, 08:16:12 EST Sat, 28 Jul 2018, 02:30:43 EST Tue, 27 Nov 2018, 15:04:54 EST Tue, 27 Nov 2018, 15:06:49 EST Tue, 27 Nov 2018, 15:08:42 EST Fri, 30 Nov 2018, 10:42:42 EST Wed, 19 Jun 2019, 06:03:20 EST Tue, 25 Jun 2019, 16:11:29 EST Tue, 25 Jun 2019, 16:12:12 EST Thu, 05 Sep 2019, 15:48:51 EST Filtered Full Citation counts:   Cited 2 times in TR Web of Science Cited 5 times in Scopus Search Google Scholar Access Statistics: 187 Abstract Views, 45 File Downloads  -  Detailed Statistics Created: Thu, 12 Jul 2018, 10:01:33 EST

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.