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[Th020] Citation: J.M. Trujillo, 'Enhancing the Sense of Touch in Minimally Invasive Surgery: Design of the Force Reflective Endoscopic Grasper,'
MSEE Thesis, University of Washington, Department of Electrical Engineering, June, 1997.
Abstract
The design of a one degree of freedom force reflecting surgical grasping
device is detailed. This device has been designed specifically for the task
of increasing the haptic sensations available to the surgeon during minimally
invasive procedures, making use of existing surgical tool technology. Modified
voice coil actuators from 5.25 inch disk drives provided the driving forces.
The bilateral position error-based controller was designed for a linear
model of the master and slave subsystems. Subjective haptic considerations
influenced the controller design. Laboratory testing of in-vivo organ tissue
is presented and an investigation of the variable stiffness of various soft
tissue samples is detailed. The device achieves the stated goal of enhancing
the haptic sensation encountered in minimally invasive surgical procedures
and enables an expert surgeon to discriminate different material samples.
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Updated: Tue Jul 15 23:54:51 2008
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