Chauhan, M orcid.org/0000-0001-9742-5352, Deshpande, N, Barresi, G et al. (4 more authors) (2017) Design and control of a novel robotic microsurgical forceps for Transoral Laser Microsurgery. In: 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 03-07 Jul 2017, Munich, Germany. IEEE , pp. 737-742. ISBN 978-1-5090-5998-0
Abstract
This paper presents a master-slave configuration robotic microsurgical forceps, which is capable of performing micro tissue manipulation. The master, i.e., 7 degree of freedom (DOF) device (Sigma.7), tele-operates the slave device which is a combination of a 6-DOF serial robotic arm and a 1-DOF (open/close) microsurgical forceps device. The serial robotic arm is used for positioning and orienting the slave device, which is integrated with a force/torque sensor for tissue grip-force measurement. This integrated system is analyzed for its (i) functional, (ii) usability, and (iii) haptic performance through user trials. The proposed system offers improved tool placement, enhanced tissue perception, safety, and accuracy with respect to the state of the art. This study the feasibility of replacing traditional manual forceps with easy-to-use and ergonomic robot-assisted devices.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Tools, Microsurgery, Manipulators, Shafts, Actuators |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 01 Oct 2020 14:45 |
Last Modified: | 30 Oct 2020 14:27 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/aim.2017.8014105 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:166162 |