Achievement of real haptic sensation with tendon driven segregated jaws for laparoscopic forceps

Kasun Prasanga, Yuki Saito, Takahiro Nozaki, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

As the technology advances, almost all the fields of the society gets developed for the benefit of the mankind. Surgery is one such field where a lot of focus is made to develop the surgical tools and instruments for past couple of decades. As a result, the robot assisted minimal invasive surgeries are very popular in the modern world. Laparoscopic forceps robots are widely used in these types of surgeries. Most of these forceps robots can only be position controlled where the user cannot feel the environment. However in surgeries it is necessary to feel the stiffness of the tissues. Therefore the transmission of force sensation is required. Especially in the case of a remote operation, bilateral control is essential. Also, most of the forceps robots are manufactured according to the traditional forceps mechanism with a crank arrangement at the tip of the forceps. This mechanism restricts the independent move of the two jaws and transmits the force in a single mechanical channel to the user. This paper proposes a method to operate the forceps tip independently with the use of bilaterally controlled tendon arrangement. Also at the same time it linearizes the force applied by the forceps tip to the object. Experimental results confirm the validity of the proposed method.

Original languageEnglish
Title of host publicationICIAFS 2012 - Proceedings
Subtitle of host publication2012 IEEE 6th International Conference on Information and Automation for Sustainability
Pages65-70
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event2012 IEEE 6th International Conference on Information and Automation for Sustainability, ICIAFS 2012 - Beijing, China
Duration: 2012 Sep 272012 Sep 29

Publication series

NameICIAFS 2012 - Proceedings: 2012 IEEE 6th International Conference on Information and Automation for Sustainability

Other

Other2012 IEEE 6th International Conference on Information and Automation for Sustainability, ICIAFS 2012
CountryChina
CityBeijing
Period12/9/2712/9/29

Keywords

  • Forceps
  • bilateral control
  • disturbance observer
  • laparoscopic surgery
  • teleoperation
  • tendon driven systems

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Prasanga, K., Saito, Y., Nozaki, T., & Ohnishi, K. (2012). Achievement of real haptic sensation with tendon driven segregated jaws for laparoscopic forceps. In ICIAFS 2012 - Proceedings: 2012 IEEE 6th International Conference on Information and Automation for Sustainability (pp. 65-70). [6419883] (ICIAFS 2012 - Proceedings: 2012 IEEE 6th International Conference on Information and Automation for Sustainability). https://doi.org/10.1109/ICIAFS.2012.6419883