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

doi:10.1109/TEPRA.2009.5339650

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

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009
Pages	10-15
Number of pages	6
DOIs	https://doi.org/10.1109/TEPRA.2009.5339650
Publication status	Published - 2009
Event	2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009 - Woburn, MA, United States Duration: 2009 Nov 9 → 2009 Nov 10

Publication series

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

Other

Other	2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009
Country	United States
City	Woburn, MA
Period	09/11/9 → 09/11/10

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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Kim, S., Hong, D., Hwang, J. H., Kim, B., & Choi, S. W. (2009). Development of an integrated torque sensor-motor module for haptic feedback in teleoperated robot-assisted surgery. In 2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009 (pp. 10-15). [5339650] (2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009). https://doi.org/10.1109/TEPRA.2009.5339650

Development of an integrated torque sensor-motor module for haptic feedback in teleoperated robot-assisted surgery. / Kim, Seunghwan; Hong, Daehie; Hwang, Jung Hoon; Kim, Bongseok; Choi, Samuel W.

2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009. 2009. p. 10-15 5339650 (2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009).

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

Kim, S, Hong, D, Hwang, JH, Kim, B & Choi, SW 2009, Development of an integrated torque sensor-motor module for haptic feedback in teleoperated robot-assisted surgery. in 2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009., 5339650, 2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009, pp. 10-15, 2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009, Woburn, MA, United States, 09/11/9. https://doi.org/10.1109/TEPRA.2009.5339650

Kim S, Hong D, Hwang JH, Kim B, Choi SW. Development of an integrated torque sensor-motor module for haptic feedback in teleoperated robot-assisted surgery. In 2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009. 2009. p. 10-15. 5339650. (2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009). https://doi.org/10.1109/TEPRA.2009.5339650

Kim, Seunghwan ; Hong, Daehie ; Hwang, Jung Hoon ; Kim, Bongseok ; Choi, Samuel W. / Development of an integrated torque sensor-motor module for haptic feedback in teleoperated robot-assisted surgery. 2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009. 2009. pp. 10-15 (2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009).

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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.",

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

Abstract

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Keywords

ASJC Scopus subject areas

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