Published in

The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.

DOI: 10.1109/biorob.2006.1639100

Links

Tools

Export citation

Search in Google Scholar

Development of High Dexterity Minimally Invasive Surgical System with Augmented Force Feedback Capability

Proceedings article published in 1 by H. Takahashi, S. Warisawa, M. Mitsuishi, J. Arata, M. Hashizume
This paper was not found in any repository, but could be made available legally by the author.
This paper was not found in any repository, but could be made available legally by the author.

Full text: Unavailable

Green circle
Preprint: archiving allowed
Green circle
Postprint: archiving allowed
Red circle
Published version: archiving forbidden
Data provided by SHERPA/RoMEO

Abstract

For a laparoscopic surgery, master-slave type surgery assisting systems have been developed. It is expected that introducing force feedback for the master-slave system improves the operability. However, measurement of grasping or reacting force for the forceps is difficult, in particular, in case of a bending type forceps. Therefore, in the paper, a method to calculate the force applying on the tip of the forceps is proposed by measuring a force applying on the driving shafts of a link-type two directional bending forceps. Furthermore, a compensation method of influence of friction force is also described and measurement experiments of grasping and reacting force has been conducted to validate the proposed method. And force feedback is implemented to the master-slave system. Finally, the augmented display method of the force applied to forceps to an operator is proposed