Mechanical Design of Haptic Forceps for Robotic Surgery
Robotic forceps were designed to meet the ergonomic requirements imposed by surgeons while providing a high-fidelity haptic interface. The forceps are designed as a master device used to control single degree-of-freedom surgical tools and accurately convey the sensations detected. The forceps are mo...
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| creator | Rizun, P.R. Gunn, D.C. Cox, B.L. Sutherland, G.R. |
| description | Robotic forceps were designed to meet the ergonomic requirements imposed by surgeons while providing a high-fidelity haptic interface. The forceps are designed as a master device used to control single degree-of-freedom surgical tools and accurately convey the sensations detected. The forceps are modular with completely integrated control electronics, operating with only a power source and a two-wire serial connection to a controlling computer. They are designed to "plug inâ⬠to a haptic hand controller using a suitably modified stylus adapter or connect directly to a cable. The forceps employ a contact-free magnetic position sensor with sub micron resolution as well as accelerometers to measure opening and closing acceleration. Actuation is accomplished with a contact-free high-bandwidth voice coil actuator that is expected to generate peak opening and closing forces over 7N with a force resolution less than 5mN. |
| doi_str_mv | 10.1109/HAPTIC.2006.1627123 |
| format | Conference Proceeding |
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| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 2324-7347 |
| ispartof | 2006 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2006, p.331-335 |
| issn | 2324-7347 |
| language | eng |
| recordid | cdi_ieee_primary_1627123 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Accelerometers Centralized control device design Ergonomics Force control Force measurement haptic forceps Haptic interfaces Magnetic sensors Position measurement Robot sensing systems Surgery surgical robotics |
| title | Mechanical Design of Haptic Forceps for Robotic Surgery |
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