Title :
Development of a high dexterity, minimally-invasive surgical system with augmented force feedback capability
Author :
Mitsuishi, Mamoru ; Arata, Junipei ; Yoshizawa, Takashi ; Warisawa, Shinichi ; Hashizume, Makoto
Author_Institution :
Tokyo Univ., Japan
Abstract :
This paper describes a link driven, multiple d.o.f., bending forceps designed as part of a minimally invasive surgical system for the internal organs. The system includes a method for providing an augmented display of the force applied on the forceps to the operator.
Keywords :
force feedback; manipulators; medical robotics; augmented display; augmented force feedback capability; link driven multiple d.o.f. bending forceps; minimally-invasive surgical system; Blades; Displays; End effectors; Endoscopes; Feedback control; Foot; Force feedback; Robots; Surgery; Switches;
Conference_Titel :
Robotics and Automation, 2004. TExCRA '04. First IEEE Technical Exhibition Based Conference on
Print_ISBN :
0-7803-8564-0
DOI :
10.1109/TEXCRA.2004.1424997
