A Novel Tool for Force/Torque Sensing in Robotic Surgery

摘要：

　　Minimally invasive surgery has drastically changed modern day surgery,and has become the standard for various procedures.MIS however has its own difficulties,and as a result,has seen robotic surgery rise in popularity over recent years.It is yet to be seen whether robotic surgery will cause another major paradigm shift,as these systems still require large costs,take up too much space,have an unclear cost benefit,and provide little or no force feedback.This paper presents a surgical tool for force/torque sensing,and uses a novel overcoat method to deal with sensor corruption at the trocar.A static analysis was conducted to compare force feedback accuracy when using a surgical tool with and without an overcoat.The former resulted in errors of 2% or lower,where the latter introduced errors up to 238%.

关键词： robotic surgery surgical tool force/torque feedback haptics

作者: W.Schwalb B.Shirinzadeh Y.Qin J.Smith

作者单位: Robotics and Mechatronics Research Laboratory, Department of Mechanical and Aerospace Engineering, M School of Surgery, Monash University, Melbourne, Australia

会议类型: 国际会议

会议名称: 第16届机电一体化技术国际会议

会议地点: 天津

会议语种:英文

页码: 236-240

在线出版日期: 2012-10-16（万方平台首次上网日期，不代表论文的发表时间）