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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 Smith
An 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.1

Pagination

419 - 424

Publisher

Newswood Limited

Location

San Francisco, California

Place of publication

Hong Kong

Start date

2013-10-23

End date

2013-10-25

ISSN

2078-0958

eISSN

2078-0966

ISBN-13

9789881925237

Language

eng

Publication classification

E1.1 Full written paper - refereed

Copyright notice

2013, Newswood Limited

Editor/Contributor(s)

S Ao, C Douglas, W Grundfest, J Burgstone

Title of proceedings

WCECS 2013 : Proceedings of the World Congress on Engineering and Computer Science