Force Sensor Integrated Surgical Forceps for Minimally Invasive Robotic Surgery

Kim, Uikyum and Lee, Dong-Hyuk and Yoon, Woon Jong and Hannaford, Blake and Choi, Hyouk Ryeol (2015) Force Sensor Integrated Surgical Forceps for Minimally Invasive Robotic Surgery. Robotics, IEEE Transactions on, 31 (5). pp. 1214-1224.

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Abstract

Abstract—This paper presents a novel surgical instrument integrated with a four-degree-of-freedom (DOF) force sensor. By adopting the capacitive transduction principle, the sensor enables the direct sensing of normal and shear forces at surgical instrument tips. Thus, three-DOF pulling forces and a single-DOF grasping force can be measured for haptic feedback control of robotic minimally invasive surgery systems. The sensor consists of four capacitive transducers, and all the transducers including analog signal processing units are embedded in small surgical instrument tips. The four-DOF force sensing is enabled thanks to the four capacitive transducers by using the force transformation method. In this study, the instrument is designed and manufactured to be adaptable to the open-source surgical robot platform, called Raven-II. In addition, the sensing system is experimentally validated through its application to the Raven-II by using a reference force sensor.

Item Type: Article
Subjects: B Teleoperation > BB Sensors for Teleoperation
C Surgical Robots > CB Automated Tools
C Surgical Robots > CC Preventing Tissue Damage
Divisions: Department of Electrical Engineering
Depositing User: Blake Hannaford
Date Deposited: 20 Jun 2016 18:08
Last Modified: 20 Jun 2016 18:08
URI: http://brl.ee.washington.edu/eprints/id/eprint/289

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