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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Abstract
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: | 16 Feb 2022 17:37 |
| URI: | https://usir.salford.ac.uk/id/eprint/38389 |
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