Kassner, Sebastian ; Rausch, Jacqueline ; Werthschützky, Roland (2010)
System Design of a Haptic Laparoscopic Telemanipulation System.
In: Biomedizinische Technik, 55 (1)
Artikel, Bibliographie
Kurzbeschreibung (Abstract)
In order to increase flexibility during laparoscopic surgery INKOMAN is introduced. This handheld telemanipulation is operated like a common laparoscopic tool but provides additional flexibility at the instrument tip. In order to equip this system with active haptic feedback requirements are derived from occurring forces during tissue manipulation, transparency of the haptic system, mechanical soft tissue properties and human haptic capabilities. Based heron a novel piezoresistive 3-DOF force sensor has been developed. It is built on a multi-axial deformation body. Novel piezoresistive strain gauges have been developed to be integrated on the deformation body. The force sensor will measure contact forces between instrument and tissue. Based on those measurements an impedance controlled haptic interface will provide spatial haptic feedback to the surgeon. The device will be driven by brushless DC motors and transmits the haptic information via a parallel kinematic mechanism to the surgeon’s hand.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2010 |
| Autor(en): | Kassner, Sebastian ; Rausch, Jacqueline ; Werthschützky, Roland |
| Art des Eintrags: | Bibliographie |
| Titel: | System Design of a Haptic Laparoscopic Telemanipulation System |
| Sprache: | Englisch |
| Publikationsjahr: | 5 November 2010 |
| Verlag: | Walter de Gruyter |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Biomedizinische Technik |
| Jahrgang/Volume einer Zeitschrift: | 55 |
| (Heft-)Nummer: | 1 |
| Veranstaltungstitel: | Jahrestagung der Deutschen Gesellschaft für Biomedizinische Technik |
| Veranstaltungsort: | Rostock-Warnemünde |
| Kurzbeschreibung (Abstract): | In order to increase flexibility during laparoscopic surgery INKOMAN is introduced. This handheld telemanipulation is operated like a common laparoscopic tool but provides additional flexibility at the instrument tip. In order to equip this system with active haptic feedback requirements are derived from occurring forces during tissue manipulation, transparency of the haptic system, mechanical soft tissue properties and human haptic capabilities. Based heron a novel piezoresistive 3-DOF force sensor has been developed. It is built on a multi-axial deformation body. Novel piezoresistive strain gauges have been developed to be integrated on the deformation body. The force sensor will measure contact forces between instrument and tissue. Based on those measurements an impedance controlled haptic interface will provide spatial haptic feedback to the surgeon. The device will be driven by brushless DC motors and transmits the haptic information via a parallel kinematic mechanism to the surgeon’s hand. |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik > Mess- und Sensortechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Elektromechanische Konstruktionen (aufgelöst 18.12.2018) 18 Fachbereich Elektrotechnik und Informationstechnik |
| Hinterlegungsdatum: | 05 Nov 2010 14:27 |
| Letzte Änderung: | 05 Mär 2013 09:41 |
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