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Development of multi-axial force sensing system for haptic feedback enabled minimally invasive robotic surgery | IEEE Conference Publication | IEEE Xplore

Development of multi-axial force sensing system for haptic feedback enabled minimally invasive robotic surgery


Abstract:

This paper presents a multi-axial force sensing system for haptic feedback of minimally invasive robotic surgery. The system consists of a 3-axial force sensor located on...Show More

Abstract:

This paper presents a multi-axial force sensing system for haptic feedback of minimally invasive robotic surgery. The system consists of a 3-axial force sensor located on the wrist of surgical grasper and a torque sensor which plays a role of pulley for driving tendons. The 3-axial force sensor measures magnitude and direction of manipulation forces when the grasper grasps and pulls the tissue, while the torque sensor measures grasping force transferred through the driving tendons. The sensors and a grasper mechanism are designed and manufactured. For the calibration and verification of the prototype sensors, a testbed which simulates tissue manipulation is built and experiments are performed to evaluate the sensing system.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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