A new type of surgical forceps integrated with three-axial force sensor for minimally invasive robotic surgery

Uikyum Kim; Yong Bum Kim; Dong Yeop Seok; Jinho So; Hyouk Ryeol Choi

doi:10.1109/URAI.2016.7734039

A new type of surgical forceps integrated with three-axial force sensor for minimally invasive robotic surgery

Uikyum Kim
, Yong Bum Kim
, Dong Yeop Seok
, Jinho So
, Hyouk Ryeol Choi

Department of Mechanical Engineering

Sungkyunkwan University

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

7 Scopus citations

Abstract

In this paper, a novel concept of surgical forceps integrated with three-axial force sensor is presented. The forceps include two surgical grippers that measure three-axial force, respectively. Using capacitive-type force sensing method, the surgical gripper has the force sensing capability with preserving its original shape and its minimization. And, the force sensor is placed on the distal region of the surgical gripper's tip, therefore, it is possible to detect the palpation at backside or edge of the gripper. In this study, the principle of the three-axial force sensing is presented, and the design and realization of the forceps are conducted.

Original language	English
Title of host publication	2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	135-137
Number of pages	3
ISBN (Electronic)	9781509008216
DOIs	https://doi.org/10.1109/URAI.2016.7734039
State	Published - 21 Oct 2016
Event	13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 - Xian, China Duration: 19 Aug 2016 → 22 Aug 2016

Publication series

Name	2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016

Conference

Conference	13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
Country/Territory	China
City	Xian
Period	19/08/16 → 22/08/16

Keywords

Capacitive-type sensor
Force sensor
Minimally invasive robotic surgery
Surgical forceps

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10.1109/URAI.2016.7734039

Cite this

Kim, U., Kim, Y. B., Seok, D. Y., So, J., & Choi, H. R. (2016). A new type of surgical forceps integrated with three-axial force sensor for minimally invasive robotic surgery. In 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 (pp. 135-137). Article 7734039 (2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2016.7734039

Kim, Uikyum ; Kim, Yong Bum ; Seok, Dong Yeop et al. / A new type of surgical forceps integrated with three-axial force sensor for minimally invasive robotic surgery. 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 135-137 (2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016).

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title = "A new type of surgical forceps integrated with three-axial force sensor for minimally invasive robotic surgery",

abstract = "In this paper, a novel concept of surgical forceps integrated with three-axial force sensor is presented. The forceps include two surgical grippers that measure three-axial force, respectively. Using capacitive-type force sensing method, the surgical gripper has the force sensing capability with preserving its original shape and its minimization. And, the force sensor is placed on the distal region of the surgical gripper's tip, therefore, it is possible to detect the palpation at backside or edge of the gripper. In this study, the principle of the three-axial force sensing is presented, and the design and realization of the forceps are conducted.",

keywords = "Capacitive-type sensor, Force sensor, Minimally invasive robotic surgery, Surgical forceps",

author = "Uikyum Kim and Kim, \{Yong Bum\} and Seok, \{Dong Yeop\} and Jinho So and Choi, \{Hyouk Ryeol\}",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 ; Conference date: 19-08-2016 Through 22-08-2016",

year = "2016",

month = oct,

day = "21",

doi = "10.1109/URAI.2016.7734039",

language = "English",

series = "2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016",

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Kim, U, Kim, YB, Seok, DY, So, J & Choi, HR 2016, A new type of surgical forceps integrated with three-axial force sensor for minimally invasive robotic surgery. in 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016., 7734039, 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016, Institute of Electrical and Electronics Engineers Inc., pp. 135-137, 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016, Xian, China, 19/08/16. https://doi.org/10.1109/URAI.2016.7734039

A new type of surgical forceps integrated with three-axial force sensor for minimally invasive robotic surgery. / Kim, Uikyum; Kim, Yong Bum; Seok, Dong Yeop et al.
2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 135-137 7734039 (2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016).

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

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AU - Kim, Yong Bum

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AU - So, Jinho

AU - Choi, Hyouk Ryeol

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N2 - In this paper, a novel concept of surgical forceps integrated with three-axial force sensor is presented. The forceps include two surgical grippers that measure three-axial force, respectively. Using capacitive-type force sensing method, the surgical gripper has the force sensing capability with preserving its original shape and its minimization. And, the force sensor is placed on the distal region of the surgical gripper's tip, therefore, it is possible to detect the palpation at backside or edge of the gripper. In this study, the principle of the three-axial force sensing is presented, and the design and realization of the forceps are conducted.

AB - In this paper, a novel concept of surgical forceps integrated with three-axial force sensor is presented. The forceps include two surgical grippers that measure three-axial force, respectively. Using capacitive-type force sensing method, the surgical gripper has the force sensing capability with preserving its original shape and its minimization. And, the force sensor is placed on the distal region of the surgical gripper's tip, therefore, it is possible to detect the palpation at backside or edge of the gripper. In this study, the principle of the three-axial force sensing is presented, and the design and realization of the forceps are conducted.

KW - Capacitive-type sensor

KW - Force sensor

KW - Minimally invasive robotic surgery

KW - Surgical forceps

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M3 - Conference contribution

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BT - 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016

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Kim U, Kim YB, Seok DY, So J, Choi HR. A new type of surgical forceps integrated with three-axial force sensor for minimally invasive robotic surgery. In 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 135-137. 7734039. (2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016). doi: 10.1109/URAI.2016.7734039

A new type of surgical forceps integrated with three-axial force sensor for minimally invasive robotic surgery

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