A novel 4-DOF surgical instrument with modular joints and 6-Axis Force sensing capability.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Jun 13, 2016

Abstract

BACKGROUND: It is difficult for surgeons to exert appropriate forces during delicate operations due to lack of force feedback in robot-assisted minimally invasive surgery (RMIS). A 4-DOF surgical grasper with a modular wrist and 6-axis force sensing capability is developed.

Authors

  • Kun Li
    State Key Laboratory of Veterinary Etiological Biology National Foot-and-Mouth Disease Reference Laboratory Lanzhou Veterinary Research Institute Chinese Academy of Agricultural Sciences, Lanzhou, Gansu, China.
  • Bo Pan
    State Key Laboratory of Robotics and System, Harbin Institute of Technology, China.
  • Fuhai Zhang
    State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
  • Wenpeng Gao
    School of Life Science and Technology, Harbin Institute of Technology, China.
  • Yili Fu
    State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
  • Shuguo Wang
    State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.

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