TY - GEN
T1 - Measuring stiffness of organs using 2-DOF haptic surgical forceps robots
AU - Tanida, Kazuki
AU - Ohnishi, Kouhei
AU - Mizoguchi, Takahiro
AU - Yashiro, Daisuke
AU - Morikawa, Yasuhide
AU - Shimojima, Naoki
PY - 2011/8/23
Y1 - 2011/8/23
N2 - This paper proposes a method of measuring stiffness of organs using opening motion with 2-DOF haptic surgical forceps robots. Measuring stiffness of organs will be useful for making alert such as subsidiary fracture of organs to operator. Most of conventional method measures stiffness by pulling motion. However, this motion may break organs easily. On the other hand, proposed method measures stiffness by opening motion. It makes surgery using surgical forceps robots safer. Experiment shows the validity of proposed method.
AB - This paper proposes a method of measuring stiffness of organs using opening motion with 2-DOF haptic surgical forceps robots. Measuring stiffness of organs will be useful for making alert such as subsidiary fracture of organs to operator. Most of conventional method measures stiffness by pulling motion. However, this motion may break organs easily. On the other hand, proposed method measures stiffness by opening motion. It makes surgery using surgical forceps robots safer. Experiment shows the validity of proposed method.
UR - http://www.scopus.com/inward/record.url?scp=80051804216&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80051804216&partnerID=8YFLogxK
U2 - 10.1109/ISAS.2011.5960956
DO - 10.1109/ISAS.2011.5960956
M3 - Conference contribution
AN - SCOPUS:80051804216
SN - 9781457707179
T3 - Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011
SP - 242
EP - 247
BT - Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011
T2 - 2011 1st International Symposium on Access Spaces, ISAS 2011
Y2 - 17 June 2011 through 19 June 2011
ER -