Measuring stiffness of organs using 2-DOF haptic surgical forceps robots

Kazuki Tanida, Kouhei Ohnishi, Takahiro Mizoguchi, Daisuke Yashiro, Yasuhide Morikawa, Naoki Shimojima

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

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011
Pages242-247
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 1st International Symposium on Access Spaces, ISAS 2011 - Yokohama, Japan
Duration: 2011 Jun 172011 Jun 19

Other

Other2011 1st International Symposium on Access Spaces, ISAS 2011
CountryJapan
CityYokohama
Period11/6/1711/6/19

Fingerprint

Stiffness
Surgery
Robotic surgery
Experiments

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Electrical and Electronic Engineering

Cite this

Tanida, K., Ohnishi, K., Mizoguchi, T., Yashiro, D., Morikawa, Y., & Shimojima, N. (2011). Measuring stiffness of organs using 2-DOF haptic surgical forceps robots. In Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011 (pp. 242-247). [5960956] https://doi.org/10.1109/ISAS.2011.5960956

Measuring stiffness of organs using 2-DOF haptic surgical forceps robots. / Tanida, Kazuki; Ohnishi, Kouhei; Mizoguchi, Takahiro; Yashiro, Daisuke; Morikawa, Yasuhide; Shimojima, Naoki.

Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011. 2011. p. 242-247 5960956.

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

Tanida, K, Ohnishi, K, Mizoguchi, T, Yashiro, D, Morikawa, Y & Shimojima, N 2011, Measuring stiffness of organs using 2-DOF haptic surgical forceps robots. in Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011., 5960956, pp. 242-247, 2011 1st International Symposium on Access Spaces, ISAS 2011, Yokohama, Japan, 11/6/17. https://doi.org/10.1109/ISAS.2011.5960956
Tanida K, Ohnishi K, Mizoguchi T, Yashiro D, Morikawa Y, Shimojima N. Measuring stiffness of organs using 2-DOF haptic surgical forceps robots. In Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011. 2011. p. 242-247. 5960956 https://doi.org/10.1109/ISAS.2011.5960956
Tanida, Kazuki ; Ohnishi, Kouhei ; Mizoguchi, Takahiro ; Yashiro, Daisuke ; Morikawa, Yasuhide ; Shimojima, Naoki. / Measuring stiffness of organs using 2-DOF haptic surgical forceps robots. Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011. 2011. pp. 242-247
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