Design and implementation of series elastic actuators for a haptic laparoscopic device

Author

Basafa, E. ; Sheikholeslami, M. ; Mirbagheri, A. ; Farahmand, F. ; Vossoughi, G.R.

Author_Institution

Biomech. Eng., Sharif Univ. of Technol., Tehran, Iran

fYear

2009

fDate

3-6 Sept. 2009

Firstpage

6054

Lastpage

6057

Abstract

The design of a laparoscopic haptic device based on a 4-DOFs mechanism and Series Elastic Actuators (SEA) is described and the results of the theoretical and experimental examinations are presented. With a sufficient bandwidth and low impedance, the system provided a stable interaction with soft tissues, e.g., human liver, in virtual environments.

Keywords

biological tissues; haptic interfaces; liver; medical control systems; surgery; 4-DOFs mechanism; human liver; impedance; laparoscopic haptic device; series elastic actuators; soft tissues; virtual environments; Biofeedback, Psychology; Computer Simulation; Computer-Aided Design; Computer-Assisted Instruction; Elastic Modulus; Endoscopy; Equipment Design; Equipment Failure Analysis; Feedback, Physiological; Humans; Laparoscopes; Models, Biological; Physical Stimulation; Surgery, Computer-Assisted; Touch; United States; User-Computer Interface;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 2009. EMBC 2009. Annual International Conference of the IEEE

Conference_Location

Minneapolis, MN

ISSN

1557-170X

Print_ISBN

978-1-4244-3296-7

Electronic_ISBN

1557-170X

Type

conf

DOI

10.1109/IEMBS.2009.5332616

Filename

5332616