Development of high dexterity minimally invasive surgical system with augmented force feedback capability

Hiroki Takahashi, Shin'ichi Warisawa, Mamoru Mitsuishi, Jumpei Arata, Makoto Hashizume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

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 oprator is proposed.

Original languageEnglish
Title of host publicationProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages284-289
Number of pages6
DOIs
Publication statusPublished - Dec 22 2006
Event1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
Duration: Feb 20 2006Feb 22 2006

Publication series

NameProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume2006

Other

Other1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
CountryItaly
CityPisa
Period2/20/062/22/06

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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