Development of an integrated torque sensor-motor module for haptic feedback in teleoperated robot-assisted surgery

Seunghwan Kim, Daehie Hong, Jung Hoon Hwang, Bongseok Kim, Samuel W. Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

In Robot-assisted surgery, haptic feedback is ongoing issue. The breaking of surgical suture material and the damage of tissue are avoidable with haptic feedback. This paper is proposing to add haptic feedback in the da Vinci like robot using unmodified da Vinci surgical instrument. To overcome the restriction of space and difficulty in measuring the force at the end-effector, the torque sensor-motor integrated module is developed. The proposed torque sensor-motor module has a totally integrated design that can replace a nominal motor. It also shows linear stress-strain relation and inherent high sensitivity.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009
Pages10-15
Number of pages6
DOIs
Publication statusPublished - 2009
Event2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009 - Woburn, MA, United States
Duration: 2009 Nov 92009 Nov 10

Publication series

Name2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009

Other

Other2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009
CountryUnited States
CityWoburn, MA
Period09/11/909/11/10

Keywords

  • Haptic
  • ITSM(Integrated Torque Sensor-Motor)
  • Robot-assisted surgery
  • Surgical robot
  • Teleoperation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition

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