A Laparoscopic Grasping Tool with Force Sensing Capability
| Author | Lee, Dong-Hyuk |
| Author | Kim, Uikyum |
| Author | Gulrez, Tauseef |
| Author | Yoon, Woon Jong |
| Author | Hannaford, Blake |
| Author | Choi, Hyouk Ryeol |
| Available date | 2021-05-20T04:35:57Z |
| Publication Date | 2016 |
| Publication Name | IEEE/ASME Transactions on Mechatronics |
| Resource | Scopus |
| ISSN | 10834435 |
| 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. 1996-2012 IEEE. |
| Language | en |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Subject | capacitive sensor force sensor haptic feedback minimally invasive surgery torque sensor |
| Type | Article |
| Pagination | 130-141 |
| Issue Number | 1 |
| Volume Number | 21 |
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