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A handheld haptic device for minimally invasive surgery

Kassner, Sebastian and Werthschützky, Roland (2011):
A handheld haptic device for minimally invasive surgery.
56, In: Biomedizinische Technik, [Conference or Workshop Item]

Abstract

Introduction ------------ In order to increase the flexibility of laparoscopic instruments the authors introduced “INKOMAN”, a handheld laparo-scopic telemanipulation system. INKOMAN comprises a movable tool tip at the end of a rigid shaft and a control inter-face. Operated similar to common laparoscopic tools four additional degrees of freedom (DOF) of motion are provided to the surgeon.

Besides the limited mobility the poor haptic feedback is the second major restriction in laparoscopic surgery. Therefore this paper addresses the design and realization of a novel haptic control interface for the INKOMAN surgery system. It covers the control strategy, actuation and mechanics.

Methods ------- The goal of INKOMAN’s haptic control interface is to mimic soft tissue properties and to display the contact situation between movable tip and manipulated tissue inside the patient’s body. To ensure a fully spatial haptic feedback the de-vice should present three translational degrees of freedom to the surgeon (x,y,z).

Core control element of the device is an active 3 DOF joystick. The joystick is realized by a parallel kinematic DELTA mechanism to ensure a dynamic and transparent feedback.

The haptic device is designed as “impedance controlled”, back driveable and actuated by brushless DC motors. During operation the joystick’s position in space is determined by applying the mechanism’s direct kinematic equation. Based hereon the Jacobian matrix is used to compute the required actor torques in order to obtain a desired force vector which is presented to the surgeon’s thumb.

Results -------- The presented concept has been realized in a prototype which delivers spatial forces up to 5N. The haptic feedback is based on a novel 3 DOF force sensor measuring the contact force between instrument tip and manipulated tissue.

Conclusion ---------- The work shows how a spatial active haptic feedback can be integrated to laparoscopic surgery to enhance ergonomics and to facilitate navigation in the intraoperative situs.

Item Type: Conference or Workshop Item
Erschienen: 2011
Creators: Kassner, Sebastian and Werthschützky, Roland
Title: A handheld haptic device for minimally invasive surgery
Language: English
Abstract:

Introduction ------------ In order to increase the flexibility of laparoscopic instruments the authors introduced “INKOMAN”, a handheld laparo-scopic telemanipulation system. INKOMAN comprises a movable tool tip at the end of a rigid shaft and a control inter-face. Operated similar to common laparoscopic tools four additional degrees of freedom (DOF) of motion are provided to the surgeon.

Besides the limited mobility the poor haptic feedback is the second major restriction in laparoscopic surgery. Therefore this paper addresses the design and realization of a novel haptic control interface for the INKOMAN surgery system. It covers the control strategy, actuation and mechanics.

Methods ------- The goal of INKOMAN’s haptic control interface is to mimic soft tissue properties and to display the contact situation between movable tip and manipulated tissue inside the patient’s body. To ensure a fully spatial haptic feedback the de-vice should present three translational degrees of freedom to the surgeon (x,y,z).

Core control element of the device is an active 3 DOF joystick. The joystick is realized by a parallel kinematic DELTA mechanism to ensure a dynamic and transparent feedback.

The haptic device is designed as “impedance controlled”, back driveable and actuated by brushless DC motors. During operation the joystick’s position in space is determined by applying the mechanism’s direct kinematic equation. Based hereon the Jacobian matrix is used to compute the required actor torques in order to obtain a desired force vector which is presented to the surgeon’s thumb.

Results -------- The presented concept has been realized in a prototype which delivers spatial forces up to 5N. The haptic feedback is based on a novel 3 DOF force sensor measuring the contact force between instrument tip and manipulated tissue.

Conclusion ---------- The work shows how a spatial active haptic feedback can be integrated to laparoscopic surgery to enhance ergonomics and to facilitate navigation in the intraoperative situs.

Title of Book: Biomedizinische Technik
Volume: 56
Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design > Measurement and Sensor Technology
Date Deposited: 14 Mar 2012 13:01
Additional Information:

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Identification Number: doi:10.1515/BMT.2011.382
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