TY - JOUR
T1 - Sensorized surgical forceps for robotic-assisted minimally invasive surgery
AU - Kim, Uikyum
AU - Kim, Yong Bum
AU - So, Jinho
AU - Seok, Dong Yeop
AU - Choi, Hyouk Ryeol
N1 - Publisher Copyright:
© 1982-2012 IEEE.
PY - 2018/12
Y1 - 2018/12
N2 - A novel force-sensing mechanism for surgical robotic systems is required for further innovation of robotic-assisted minimally invasive surgery (RMIS). In this paper, novel sensorized surgical forceps are presented with five-degree-of-freedom (5-DOF) force/torque (F/T) sensing capability: a grasping force, a 3-DOF manipulating force, and a rotational torque acting at the forceps. Two compact 3-DOF force sensors are integrated into the proximal region on two jaws of the forceps to measure 5-DOF F/T. The forceps also present important advantages for actual use in RMIS, such as miniaturization, compatible configuration to various shapes of surgical forceps, and packaged sensor electronics. In this study, the forceps are designed and manufactured at a low cost and are even disposable. To evaluate the forceps in a surgical robotic environment, the instrument is installed in a surgical robot, named S-Surge. In the environment, the 5-DOF F/T sensing capability is evaluated through comparison with reference sensors.
AB - A novel force-sensing mechanism for surgical robotic systems is required for further innovation of robotic-assisted minimally invasive surgery (RMIS). In this paper, novel sensorized surgical forceps are presented with five-degree-of-freedom (5-DOF) force/torque (F/T) sensing capability: a grasping force, a 3-DOF manipulating force, and a rotational torque acting at the forceps. Two compact 3-DOF force sensors are integrated into the proximal region on two jaws of the forceps to measure 5-DOF F/T. The forceps also present important advantages for actual use in RMIS, such as miniaturization, compatible configuration to various shapes of surgical forceps, and packaged sensor electronics. In this study, the forceps are designed and manufactured at a low cost and are even disposable. To evaluate the forceps in a surgical robotic environment, the instrument is installed in a surgical robot, named S-Surge. In the environment, the 5-DOF F/T sensing capability is evaluated through comparison with reference sensors.
KW - 5-DOF F/T sensing
KW - minimally invasive surgery
KW - sensorized surgical forceps
KW - surgical robot
UR - https://www.scopus.com/pages/publications/85044762531
U2 - 10.1109/TIE.2018.2821626
DO - 10.1109/TIE.2018.2821626
M3 - Article
AN - SCOPUS:85044762531
SN - 0278-0046
VL - 65
SP - 9604
EP - 9613
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 12
M1 - 8328910
ER -