A master-slave manipulation system with a force-feedback function for endoscopic surgery

Hoshino, Tomoko; Ishigaki, Hiroyuki; Konishi, Yasuo; Kondo, Kunio; Suzuki, Takashi; Saito, Tatsuhiko; Kakuta, Naoto; Wagatsuma, A.; Mabuchi, Kunihiko

doi:10.1109/iembs.2001.1019571

Cited by 7 publications

(3 citation statements)

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“…6), haptic forceps for microsurgery [100], a force reflection scheme for a master system using actuated and sensorized forceps [20], and a haptic interface device that provides kinesthetic feedback as well as tactile information via an array of pins [101,102]. Examples of master-slave systems with force feedback include references [45], [81], [97], and [103] to [107] (see Fig. 6).…”

Section: Interface Requirementsmentioning

confidence: 99%

Force sensing and its application in minimally invasive surgery and therapy: A survey

Trejos

Patel

Naish

2010

Proceedings of the Institution of Mechanical Engineers, Part C:

165

108

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The reduced access conditions of minimally invasive surgery and therapy (MIST) impair or completely eliminate the feel of tool—tissue interaction forces. Many researchers have been working actively on the development of force sensors and sensing techniques to address this problem. The goal of this survey article is to summarize the state of the art in force sensing techniques for medical interventions in order to identify existing limitations and future directions. A literature search was performed from January to July 2009 using a combination of keywords relevant to the area, including force, sensor, sensing, haptics, and minimally invasive surgery. The literature search resulted in 126 articles with valuable content. This article presents a summary of the force sensing technologies, design specifications for force sensors in clinical applications, force sensors and sensing instruments that have been developed for MIST, and the experiments performed to determine the need for force information. Open areas of research include force sensor design, development of alternative methods of sensing, assessment of the impact of force information on performance, determination of the benefits of haptic information, and evaluation of the human factors involved in the processing and use of force information.

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Section: Interface Requirementsmentioning

confidence: 99%

Force sensing and its application in minimally invasive surgery and therapy: A survey

Trejos

Patel

Naish

2010

Proceedings of the Institution of Mechanical Engineers, Part C:

165

108

View full text Add to dashboard Cite

show abstract

“…For the evaluation value x m i R rendered by subject x in the m th trail of lifting the i th comparison stimulus, we compute i on logarithmic scale by (9). The results of MJM conditions and SJM conditions are shown in Fig.…”

Section: Modality Characteristic Exponentmentioning

confidence: 99%

“…Many haptic interfaces that can provide various force/tactile sensations to users have been developed by many researchers [1][2][3][4][5][6]. Haptic interfaces have been widely adopted in remote control devices, rehabilitation and microsurgery equipments [7][8][9]. However, few reports have discussed the relationship between human force sensation and hand movement in device operation [10].…”

Section: Introductionmentioning

confidence: 99%

Measurement of the relationship between weight perception and upper limb movement

Huang

Tanino

Wada

et al. 2012

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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In this paper, we investigated the relationship between motion of the human upper limb and weight perception during weight lifting experiments in a real environment. The weight lifting experiments were completed with and without elbow restraints and with various lifting heights. In the lifting experiments, subjects evaluated their perceptions of the lifted weight by the magnitude estimation method. Psychometric and psychophysical magnitude functions were computed according to subject's evaluation results. The slope of the psychometric function and the modality characteristic exponent were quantitatively analyzed for our experimental conditions. The results indicate that these quantities increase proportionally to lifting height. The results of this study demonstrate that weight perception in human is closely related to the motion of the upper limb.

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Movement safety control method of a haptic device for Minimally Invasive Surgery

Saafi

Laribi

Zeghloul

et al. 2014

2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE)

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A master-slave manipulation system with a force-feedback function for endoscopic surgery

Cited by 7 publications

References 1 publication

Force sensing and its application in minimally invasive surgery and therapy: A survey

Force sensing and its application in minimally invasive surgery and therapy: A survey

Measurement of the relationship between weight perception and upper limb movement

Movement safety control method of a haptic device for Minimally Invasive Surgery

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