A Robotic System with Force Feedback for Micro-Surgery

Author

Wang, Shuxin ; Ding, Jienan ; Yun, Jintian ; Li, Qunzhi ; Han, Baoping

Author_Institution

School of Mechanical Engineering Tianjin University of China Tianjin 300072, China shuxinw@tju.edu.cn

fYear

2005

fDate

18-22 April 2005

Firstpage

199

Lastpage

204

Abstract

A robotic system with force feedback for micro-surgery is developed (named “Microhand”). The system designed is based on a master-slave operation mode. The slave manipulators are designed by using macro-micro frames. The PHANToM Desktop developed by the SensaAble Technology Company is used as the master device. The interactive force/torque information of the slave manipulators and the surgical environments measured by the six-dimension force/torque sensors are fed back to the master device, so that the system is capable of providing force feedback to the surgeon during operations. The validity of the system has been proved through animal experiments of vas suturing a rabbit’s 3mm in diameter neck artery and its 1mm in diameter leg artery.

Keywords

force feedbacks; master-slave micro-surgical operation; medical robot; Arteries; Force feedback; Force measurement; Force sensors; Imaging phantoms; Manipulators; Master-slave; Robot sensing systems; Surgery; Torque measurement; force feedbacks; master-slave micro-surgical operation; medical robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570119

Filename

1570119