+ Site Statistics
+ Search Articles
+ PDF Full Text Service
How our service works
Request PDF Full Text
+ Follow Us
Follow on Facebook
Follow on Twitter
Follow on LinkedIn
+ Subscribe to Site Feeds
Most Shared
PDF Full Text
+ Translate
+ Recently Requested

An implementation of sensor-based force feedback in a compact laparoscopic surgery robot



An implementation of sensor-based force feedback in a compact laparoscopic surgery robot



Asaio Journal 55(1): 83-85



Despite the rapid progress in the clinical application of laparoscopic surgery robots, many shortcomings have not yet been fully overcome, one of which is the lack of reliable haptic feedback. This study implemented a force-feedback structure in our compact laparoscopic surgery robot. The surgery robot is a master-slave configuration robot with 5 DOF (degree of freedom corresponding laparoscopic surgical motion. The force-feedback implementation was made in the robot with torque sensors and controllers installed in the pitch joint of the master and slave robots. A simple dynamic model of action-reaction force in the slave robot was used, through which the reflective force was estimated and fed back to the master robot. The results showed the system model could be identified with significant fidelity and the force feedback at the master robot was feasible. However, the qualitative human assessment of the fed-back force showed only limited level of object discrimination ability. Further developments are underway with this result as a framework.

Please choose payment method:






(PDF emailed within 0-6 h: $19.90)

Accession: 051491278

Download citation: RISBibTeXText

PMID: 19092664

DOI: 10.1097/mat.0b013e31819018e7


Related references

Contact force measurement of instruments for force-feedback on a surgical robot: acceleration force cancellations based on acceleration sensor readings. MedicalImageComputingandComputer-AssistedIntervention8(Pt2):97, 2005

A sensorless force-feedback system for robot-assisted laparoscopic surgery. Computer Assisted Surgery 2019: 1-10, 2019

A sensorless force-feedback system for robot-assisted laparoscopic surgery. Computer Assisted Surgery 24(Sup1): 36-43, 2019

Evaluation of force data with a force/torque sensor during FESS. A step towards robot-assisted surgery. Hno 56(8): 789-794, 2008

Force-based control of a compact spinal milling robot. International Journal of Medical Robotics + Computer Assisted Surgery 6(2): 178-185, 2010

Tactile Feedback Induces Reduced Grasping Force in Robot-Assisted Surgery. IEEE Transactions on Haptics 2(2): 103-110, 2009

Real-Time Sclera Force Feedback for Enabling Safe Robot-Assisted Vitreoretinal Surgery. Conference Proceedings 2018: 3650-3655, 2018

Implementation of an intuitive writing interface and a laparoscopic robot for gynaecological laser assisted surgery. Proceedings of the Institution of Mechanical Engineers. Part H Journal of Engineering in Medicine 219(4): 293-302, 2005

A force/torque sensor-based technique for robot harvesting of fruits and vegetables. IROS ' 90 Proceedings of the IEEE International Workshop on Intelligent Robots and Systems ' 90 Towards a new frontier of applications Ibaraki, Japan, 3-6 July 1990: 231-235, 1990

Experimental Robot Model Adjustments Based on Force-Torque Sensor Information. Sensors 18(3):, 2018

Learning curves of robot-assisted laparoscopic surgery compared with conventional laparoscopic surgery: an experimental study evaluating skill acquisition of robot-assisted laparoscopic tasks compared with conventional laparoscopic tasks in inexperienced users. Surgical Laparoscopy Endoscopy and Percutaneous Techniques 17(3): 171-174, 2007

A single port laparoscopic surgery robot with high force transmission and a large workspace. Surgical Endoscopy 28(9): 2719-2729, 2014

Fabrication of a thin-film capacitive force sensor array for tactile feedback in robotic surgery. Conference Proceedings 2012: 2355-2358, 2012

An actuated force feedback-enabled laparoscopic instrument for robotic-assisted surgery. International Journal of Medical Robotics + Computer Assisted Surgery 10(1): 11-21, 2014

Learning from visual force feedback in box trainers: tissue manipulation in laparoscopic surgery. Surgical Endoscopy 28(6): 1961-1970, 2014