Methods of the force measurement for robotic surgical tools

Author

Wróblewska, A.

Author_Institution

Inst. of Machine Tools & Production Eng., Tech. Univ. of Lodz, Poland

fYear

2005

fDate

23-25 June 2005

Firstpage

51

Lastpage

54

Abstract

Resolution of force feedback system in MIS (minimally invasive surgery) is at the stage of examinations and there has been no application in practice so far. The article presents existing prototypes of solutions differing with the method of the arrangement of sensors and the kind of applied measuring method. Also a method for the Polish surgery robot Robin Heart was proposed. The solution to this problem will deliver surgeons the chance of the estimation of the handled organ rigidity and will ensure the constant check-up when executing the operation by surgeons.

Keywords

cardiology; force feedback; force measurement; manipulators; medical robotics; surgery; Polish surgery robot; Robin Heart; force feedback system; force measurement; minimally invasive surgery; organ rigidity; robotic surgical tools; sensor arrangement; surgery operation; Force feedback; Force measurement; Force sensors; Minimally invasive surgery; Prototypes; Robots; Size measurement; State estimation; Temperature sensors; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on

Print_ISBN

83-7143-266-6

Type

conf

DOI

10.1109/ROMOCO.2005.201400

Filename

1554379