000152498 001__ 152498
000152498 005__ 20190812205427.0
000152498 020__ $$a978-89-93215-02-1
000152498 02470 $$2ISI$$a000294964400076
000152498 037__ $$aCONF
000152498 245__ $$aModeling and Design of a Gripper for a Robotic Surgical System Integrating Force Sensing Capabilities in 4 DOF
000152498 269__ $$a2010
000152498 260__ $$bIeee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa$$c2010
000152498 336__ $$aConference Papers
000152498 520__ $$aThis paper reports the design of a Minimally Invasive Surgery (MIS) gripper with four degrees of freedom force sensing capabilities. It will be used to provide force feedback during surgical interventions in which the surgeon will remotely manipulate surgical instruments through the use of a robotic arm directly inserted into the patient’s insufflated abdominal cavity. Suturing, dissection and ablation instruments will be attached on this 8 mm× 9 mm× 3 mm MIS gripper. Finite Element Analysis is used to model the gripper and determine the deformation matrix coefficients. Gripping and XYZ Cartesian direction applied forces can be measured with a resolution of 0.1N for a maximum force of 10N. However a significant difference between the predicted values by the Finite Element model and those obtained in the characterization of the force sensor is found. This divergence is due to misalignments of the strain gages located on the blades of the gripper. Future work will be focused on reducing misalignment of force sensors as well as other error sources.
000152498 6531_ $$aforce sensor
000152498 6531_ $$arobotic surgery
000152498 700__ $$0242152$$g179756$$aStephan, Mathieu
000152498 700__ $$0242149$$g188041$$aRognini, Giulio
000152498 700__ $$0242148$$g188789$$aSengül, Ali
000152498 700__ $$0242154$$g183554$$aBeira, Ricardo
000152498 700__ $$0242146$$g183566$$aSantos-Carreras, Laura
000152498 700__ $$0240027$$g104561$$aBleuler, Hannes
000152498 7112_ $$dOct. 27-30, 2010$$cKINTEX, Gyeonggi-do, Korea$$aInternational Conference on Control, Automation and Systems 2010
000152498 773__ $$tInternational Conference On Control, Automation And Systems (Iccas 2010)$$q361-365
000152498 8564_ $$zn/a$$yPublisher's version$$uhttps://infoscience.epfl.ch/record/152498/files/submitted_paper.pdf$$s622222
000152498 909C0 $$pLSRO$$0252016
000152498 909CO $$pSTI$$ooai:infoscience.tind.io:152498$$qGLOBAL_SET$$pconf
000152498 917Z8 $$x179756
000152498 917Z8 $$x183566
000152498 937__ $$aEPFL-CONF-152498
000152498 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000152498 980__ $$aCONF