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.
|Schools:||Schools > School of Computing, Science and Engineering|
|Journal or Publication Title:||IEEE/ASME Transactions on Mechatronics|
|Publisher:||Institute of Electrical and Electronics Engineers|
|Depositing User:||Dr. Tauseef Gulrez|
|Date Deposited:||22 Mar 2016 15:30|
|Last Modified:||22 Mar 2016 15:30|
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