A laparoscopic grasping tool with force sensing capability

Lee, D; Kim, U; Gulrez, Tauseef; Yoon, WJ; Hannaford, B; Choi, HR

Abstract

This paper presents a laparoscopic grasping tool for minimally invasive surgery with the capability of multi-axis force sensing. The tool is able to sense three axis Cartesian manipulation force and a single-axis grasping force. The forces are measured by a wrist force sensor located at the distal end of the tool, and two torque sensors at the tool base, respectively. We propose an innovative design of a miniature force sensor achieving structural simplicity and potential cost effectiveness. A prototype is manufactured and experiments are conducted in a simulated surgical environment by using an open platform for surgical robot research, called Raven-II.

Citation

Lee, D., Kim, U., Gulrez, T., Yoon, W., Hannaford, B., & Choi, H. (2015). A laparoscopic grasping tool with force sensing capability. IEEE/ASME Transactions on Mechatronics, 21(1), 130-144. https://doi.org/10.1109/TMECH.2015.2442591

• Journal Article Type: Article
• Acceptance Date: May 23, 2015
• Publication Date: Jun 8, 2015
• Deposit Date: Mar 22, 2016
• Journal: IEEE/ASME Transactions on Mechatronics
• Print ISSN: 1083-4435
• Publisher: Institute of Electrical and Electronics Engineers
• Volume: 21
• Issue: 1
• Pages: 130-144
• DOI: https://doi.org/10.1109/TMECH.2015.2442591
• Publisher URL: http://dx.doi.org/10.1109/TMECH.2015.2442591
• Related Public URLs: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516#