Enhancing the Sense of Touch in Minimally Invasive Surgery: Design of the Force Reflective Endoscopic Grasper

Trujillo, J.M. (1997) Enhancing the Sense of Touch in Minimally Invasive Surgery: Design of the Force Reflective Endoscopic Grasper. Masters thesis, University of Washington.

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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.

Item Type: Thesis (Masters)
Subjects: D Haptics
Divisions: Department of Electrical Engineering
Depositing User: Jeffrey Herron
Date Deposited: 07 Jul 2015 21:24
Last Modified: 07 Jul 2015 21:24
URI: http://brl.ee.washington.edu/eprints/id/eprint/80

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