Abstract
Due to the physical barrier of the abdominal wall in laparoscopy, the operation is based on remote manipulation. Hence, in contrast to the open surgery, direct sensation of the surgical site and palpation is not possible. There have been attempts [16][35][70] to compensate for this lack of tactile sensing by using an array of tactile sensors that measures the pressure distribution (or small-scale shape distribution), and recreating this by using an array of tactile displays on the hand of surgeon. The design of tactile sensors is even more complicated if we want to incorporate sensations of temperature and vibration as part of the tactile sensing.
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Notes
Caused by the elastic deflection of all intermediate linkage members.
The bandwidth of a device is defined as the maximum speed or frequency at which the device is capable of operating[18].
MicroMo Electronics Inc., PM DC motor series GNM 4 125.
Servo System Co. Cat. No. 3730-134H-019.
When the variation of manipulating force over time is very gradual near zero(e.g. ≤ 0.2Hz for the tissue manipulation).
The actual transmission ratio is defined as: ract = FOut/Fin where Fout, and Fin are the actual measured forces at the grasper and the handle respectively.
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© 2000 Springer Science+Business Media New York
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Faraz, A., Payandeh, S. (2000). Force Reflecting Graspers. In: Engineering Approaches to Mechanical and Robotic Design for Minimally Invasive Surgery (MIS). The Springer International Series in Engineering and Computer Science, vol 545. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-4409-8_5
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DOI: https://doi.org/10.1007/978-1-4615-4409-8_5
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