A Laparoscopic Grasping Tool with Force Sensing Capability

Choi, Hyouk-Ryeol and Lee, Dong-Hyuk and Kim, Uikyum and Gulrez, Tauseef and Yoon, Woon Jong and Hannaford, Blake (2016) A Laparoscopic Grasping Tool with Force Sensing Capability. IEEE/ASME Transactions on Mechatronics, 21 (1). pp. 130-141.

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Abstract—This paper presents a laparoscopic grasping tool for minimally invasive surgery with the capability of multiaxis force sensing. The tool is able to sense three- axis Cartesian manipulation force and a single-axis grasping force. The forces are measured by a wrist force sensor located at the distal end of the tool, and two torque sensors at the tool base, respectively. We propose an innovative design of a miniature force sensor achieving structural simplicity and potential cost effectiveness. A prototype is manufactured and experiments are conducted in a simulated surgical environment by using an open platform for surgical robot research, called Raven-II.

Item Type: Article
Subjects: C Surgical Robots > C Surgical Robots(General)
C Surgical Robots > CB Automated Tools
Divisions: Department of Electrical Engineering
Depositing User: Blake Hannaford
Date Deposited: 27 Apr 2016 22:45
Last Modified: 27 Apr 2016 22:45
URI: http://brl.ee.washington.edu/eprints/id/eprint/287

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