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Mechanical Characterization of the Immersion Corp. Haptic, Bimanual, Surgical Simulator Interface

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Experimental Robotics VIII

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 5))

Abstract

In this paper the design of a bimanual haptic interface device for simulation of minimally invasive surgical procedures is described. Each of the two handles has five haptic degrees of freedom. The workspace of the device was designed to accommodate the working volumes required by a set of common minimally invasive abdominal surgical procedures. Preliminary measurements of the electromechanical performance of the device are also presented.

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References

  1. Hasser, C.J. and Cutkosky, M.R., 2002, System identification of the Human Hand Grasping a Haptic Knob, Proceedings of IEEE Symposium on Haptic Devices for Virtual Environment and Teleoperator Systems, Orlando, Florida, March 2002.

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  2. Heinrichs, W.L., Montgomery, K., Hasser, C., Srivastava, S., Brown, J., Latombe, J.C. and Dev, P., “Bimanual Surgical Manipulations on a Surgical Workbench with Lucy 2.6, A Complete Stereoscopic, Deformable Pelvic Model”, presented at 10th Medicine Meets Virtual Reality (MMVR) conference, Newport Beach, CA, Jan. 2002.

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  3. Montgomery, K., Bruyns, C., Brown, J., Sorkin, S., Mazella, F., Thonier, G., Tellier, A., Lerman, B., Menon, A., (2002), “SPRING: A General Framework for Collaborative, Real-time Surgical Simulation”, Medicine Meets Virtual Reality 02/10, Westwood, J.D. et al eds., IOS Press.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA

    Kenneth J. Waldron & Kate Tollon

Authors
  1. Kenneth J. Waldron
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  2. Kate Tollon
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Editor information

Editors and Affiliations

  1. Dipartimento di Ingegneria dell’Informazione e Ingegneria Elettrica, Università degli Studi di Salerno, Via Ponte Don Melillo, 84084, Fisciano (SA), Italy

    Bruno Siciliano

  2. Scuola Superiore di Studi Universitari e di Perfezionamento Sant’Anna, Piazza Martiri della Libertà 33, 56127, Pisa, Italy

    Paolo Dario

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© 2003 Springer-Verlag Berlin Heidelberg

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Waldron, K.J., Tollon, K. (2003). Mechanical Characterization of the Immersion Corp. Haptic, Bimanual, Surgical Simulator Interface. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_8

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  • DOI: https://doi.org/10.1007/3-540-36268-1_8

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00305-2

  • Online ISBN: 978-3-540-36268-5

  • eBook Packages: Springer Book Archive

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