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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.

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Title Modular instrument for a haptically-enabled robotic surgical system (HeroSurg)
Author(s) Moradi Dalvand, Mohsen
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Fielding, MichaelORCID iD for Fielding, Michael orcid.org/0000-0001-7569-8499
Mullins, James
Najdovski, ZoranORCID iD for 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: Centre for Intelligent Systems Research
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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.