Design and control of a novel robotic microsurgical forceps for Transoral Laser Microsurgery

M Chauhan; N Deshpande; G Barresi; C Pacchierotti; D Prattichizzo; DG Caldwell; LS Mattos

doi:10.1109/aim.2017.8014105

Design and control of a novel robotic microsurgical forceps for Transoral Laser Microsurgery

M Chauhan, N Deshpande, G Barresi, C Pacchierotti, D Prattichizzo, DG Caldwell, LS Mattos

Electronic Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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.

Original language	English
Title of host publication	2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
Publisher	IEEE
ISBN (Print)	978-1-5090-5998-0
DOIs	https://doi.org/10.1109/aim.2017.8014105
Publication status	Published - 1 Jul 2017

Access to Document

10.1109/aim.2017.8014105

https://eprints.whiterose.ac.uk/166162/

Cite this

@inproceedings{6ef7b4c3d68e4c668ab4299f6ec2cf21,

title = "Design and control of a novel robotic microsurgical forceps for Transoral Laser Microsurgery",

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.",

author = "M Chauhan and N Deshpande and G Barresi and C Pacchierotti and D Prattichizzo and DG Caldwell and LS Mattos",

year = "2017",

month = jul,

day = "1",

doi = "10.1109/aim.2017.8014105",

language = "English",

isbn = "978-1-5090-5998-0",

booktitle = "2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)",

publisher = "IEEE",

address = "United States",

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T1 - Design and control of a novel robotic microsurgical forceps for Transoral Laser Microsurgery

AU - Chauhan, M

AU - Deshpande, N

AU - Barresi, G

AU - Pacchierotti, C

AU - Prattichizzo, D

AU - Caldwell, DG

AU - Mattos, LS

PY - 2017/7/1

Y1 - 2017/7/1

N2 - 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.

AB - 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.

U2 - 10.1109/aim.2017.8014105

DO - 10.1109/aim.2017.8014105

M3 - Conference contribution

SN - 978-1-5090-5998-0

BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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