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Force measurement capability for robotic assisted minimally invasive surgery systems
conference contribution
posted on 2013-01-01, 00:00 authored by Mohsen Moradi DalvandMohsen Moradi Dalvand, B Shirinzadeh, Nahavandi Saeid, F Karimirad, J SmithAn 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.
History
Event
Intelligent Automation and Robotics. Conference (2013 : San Francisco, California)Series
Lecture notes in Engineering and Computer Science v.1Pagination
419 - 424Publisher
Newswood LimitedLocation
San Francisco, CaliforniaPlace of publication
Hong KongStart date
2013-10-23End date
2013-10-25ISSN
2078-0958eISSN
2078-0966ISBN-13
9789881925237Language
engPublication classification
E1.1 Full written paper - refereedCopyright notice
2013, Newswood LimitedEditor/Contributor(s)
S Ao, C Douglas, W Grundfest, J BurgstoneTitle of proceedings
WCECS 2013 : Proceedings of the World Congress on Engineering and Computer ScienceUsage metrics
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No categories selectedKeywords
Robotic Assisted Minimally Invasive Surgery (RAMIS)Force MeasurementLaparoscopic InstrumentTransmission MechanismStrain GagesModularityActuation MechanismScience & TechnologyTechnologyComputer Science, Interdisciplinary ApplicationsEngineering, MultidisciplinaryComputer ScienceEngineeringENDOSCOPIC GRASPERFEEDBACKSENSORINSTRUMENT
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