Design and implementation of series elastic actuators for a haptic laparoscopic device

E Basafa; M Sheikholeslami; A Mirbagheri; F Farahmand; G R Vossoughi

doi:10.1109/IEMBS.2009.5332616

Design and implementation of series elastic actuators for a haptic laparoscopic device

Annu Int Conf IEEE Eng Med Biol Soc. 2009:2009:6054-7. doi: 10.1109/IEMBS.2009.5332616.

Authors

E Basafa¹, M Sheikholeslami, A Mirbagheri, F Farahmand, G R Vossoughi

Affiliation

¹ Johns Hopkins University, Baltimore, MD 21218, USA. [email protected]

PMID: 19963665
DOI: 10.1109/IEMBS.2009.5332616

Abstract

The design of a laparoscopic haptic device based on a 4-DOFs mechanism and Series Elastic Actuators (SEA) is described and the results of the theoretical and experimental examinations are presented. With a sufficient bandwidth and low impedance, the system provided a stable interaction with soft tissues, e.g., human liver, in virtual environments.

MeSH terms

Biofeedback, Psychology / instrumentation
Computer Simulation
Computer-Aided Design
Computer-Assisted Instruction / instrumentation*
Computer-Assisted Instruction / methods
Elastic Modulus
Endoscopy / education*
Equipment Design
Equipment Failure Analysis
Feedback, Physiological
Humans
Laparoscopes*
Models, Biological
Physical Stimulation / instrumentation*
Surgery, Computer-Assisted / education
Surgery, Computer-Assisted / instrumentation*
Surgery, Computer-Assisted / methods
Touch*
United States
User-Computer Interface*