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A laparoscopic grasping tool with force sensing capability

Lee, D, Kim, U, Gulrez, Tauseef, Yoon, WJ, Hannaford, B and Choi, HR 2015, 'A laparoscopic grasping tool with force sensing capability' , IEEE/ASME Transactions on Mechatronics, 21 (1) , pp. 130-144.

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This paper presents a laparoscopic grasping tool for minimally invasive surgery with the capability of multi-axis 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.

Item Type: Article
Schools: Schools > School of Computing, Science and Engineering
Journal or Publication Title: IEEE/ASME Transactions on Mechatronics
Publisher: Institute of Electrical and Electronics Engineers
ISSN: 1083-4435
Related URLs:
Funders: NPRP
Depositing User: Dr. Tauseef Gulrez
Date Deposited: 22 Mar 2016 15:30
Last Modified: 22 Mar 2016 15:30

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