NDLI: Experimentally driven design of a palpating gripper with minimally invasive surgery considerations

Content Provider	IEEE Xplore Digital Library
Author	Spiers, A. Baillie, S. Pipe, T. Persad, R.
Copyright Year	2012
Description	Author affiliation: Bristol Robotics Laboratory, University of the West of England, UK (Spiers, A.; Pipe, T.) \|\| School of Veterinary Science, University of Bristol, UK (Baillie, S.) \|\| Bristol Urological Institute, Southmead Hospital Bristol, UK (Persad, R.)
Abstract	A natural extension of current robotic minimally invasive surgery (MIS) is the addition of tactile and kinesthetic feedback, which would give an operating surgeon valuable haptic information about tissue under observation. Identification of haptic properties requires active exploration [1][2]. It is believed that such exploration may be facilitated by a tool capable of replicating the major exploratory procedures (EPs; haptic information gleaning maneuvers) of a surgeon. Such a tool must also fit within the fabrication and other constraints of similar MIS tools. In this paper the requirements of such a gripper are highlighted via experiments with surgeons. The results have been used to develop a 2-finger, 3dof (degree of freedom) gripper based on an inverted closed chain serial manipulator. A primary advantage of this system is its dexterity and compactness, compared to other manipulators. The gripper is shown to be capable of replicating the most frequently observed two-finger exploratory procedures. It is argued that a single tactile sensor is sufficiently useful for a two fingered system and a scaled prototype of the system has been designed to accommodate such a sensor. This system has been designed with later laparoscopic grade manufacture in mind.
Starting Page	261
Ending Page	266
File Size	1279718
Page Count	6
File Format	PDF
ISBN	9781467308083
e-ISBN	9781467308090
e-ISBN	9781467308076
DOI	10.1109/HAPTIC.2012.6183800
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-03-04
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Radio frequency Sensors Rubber Indexes Bladder Haptic Sensing Robot Manipulator Design Exploratory Procedures Palpation Minimally Invasive Surgery
Content Type	Text
Resource Type	Article

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