Deshpande, N, Chauhan, M orcid.org/0000-0001-9742-5352, Pacchierotti, C et al. (3 more authors) (2016) Robot-assisted microsurgical forceps with haptic feedback for transoral laser microsurgery. In: 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 16-20 Aug 2016, Orlando, FL, USA. IEEE , pp. 5156-5159. ISBN 978-1-4577-0219-8
Abstract
In this paper, a novel, motorized, multi-degrees-of-freedom (DoF), microsurgical forceps tool is presented, which is based on a master-slave teleoperation architecture. The slave device is a 7-DoF manipulator with: (i) 6-DoF positioning and orientation, (ii) 1 open/close gripper DoF; and (iii) an integrated force/torque sensor for tissue grip-force measurement. The master device is a 7-DoF haptic interface which teleoperates the slave device, and provides haptic feedback in its gripper interface. The combination of the device and the surgeon interface replaces the manual, hand-held device providing easy-to-use and ergonomic tissue control, simplifying the surgical tasks. This makes the system suitable to real surgical scenarios in the operating room (OR). The performance of the system was analysed through the evaluation of teleoperation control and characterization of gripping force. The new system offers an overall positioning error of less than 400 μm demonstrating its safety and accuracy. Improved system precision, usability, and ergonomics point to the potential suitability of the device for the OR and its ability to advance haptic-feedback-enhanced transoral laser microsurgeries.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2016 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: | Microsurgery, Haptic interfaces, Robot sensing systems, Force, Manipulators |
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: | 09 Oct 2020 11:05 |
Last Modified: | 30 Oct 2020 14:42 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/embc.2016.7591888 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:166163 |