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System Design of a Haptic Laparoscopic Telemanipulation System

Kassner, Sebastian and Rausch, Jacqueline and Werthschützky, Roland (2010):
System Design of a Haptic Laparoscopic Telemanipulation System.
55, In: Biomedizinische Technik, (1), Walter de Gruyter, ISSN 0013-5585, [Article]

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.

Item Type: Article
Erschienen: 2010
Creators: Kassner, Sebastian and Rausch, Jacqueline and Werthschützky, Roland
Title: System Design of a Haptic Laparoscopic Telemanipulation System
Language: English
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.

Journal or Publication Title: Biomedizinische Technik
Volume: 55
Number: 1
Publisher: Walter de Gruyter
Divisions: 18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design > Measurement and Sensor Technology
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design
18 Department of Electrical Engineering and Information Technology
Event Title: Jahrestagung der Deutschen Gesellschaft für Biomedizinische Technik
Event Location: Rostock-Warnemünde
Date Deposited: 05 Nov 2010 14:27
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