Characterization of Dynamic Gripping Force Feedback for Robot-Assisted Surgery

Abstract: Haptic feedback of gripping forces during robotassisted surgery can benefit the surgical outcome by means of reduced forces applied to the tissue. A custom-designed haptic user interface allows to control four degrees of freedom of the instrument’s endeffector and to display gripping forces. System-centered evaluation is performed to assess its capability of displaying feedback with high mechanical bandwidth. In addition, the perception of gripping forces is evaluated using task-centered methods. Two tasks were performed by ten participants to assess the perceived feedback regarding size and stiffness of grasped objects. Maximum feedback forces of 4.3N and a mechanical bandwidth of 73.5 Hz are achieved. Tests with participants showed promising results regarding the discrimination of size and stiffness of grasped objects.

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• Standort: Deutsche Nationalbibliothek Frankfurt am Main
• Umfang: Online-Ressource
• Sprache: Englisch

Verweise und Beziehungen

• Erschienen in: Characterization of Dynamic Gripping Force Feedback for Robot-Assisted Surgery ; volume:10 ; number:2 ; year:2024 ; pages:62-65 ; extent:4 ; Current directions in biomedical engineering ; 10, Heft 2 (2024), 62-65 (gesamt 4)

Beteiligte, Orts- und Zeitangaben

• Urheber: Schäfer, Max B. ; Riepe, Sarah ; Parenzan, Matthias ; Bauer, Christian J. E. ; Hotz, Jonas ; Meiringer, Johannes G. ; Weiland, Sophie ; Pott, Peter P.

Weitere Informationen

• DOI: 10.1515/cdbme-2024-1068
• URN: urn:nbn:de:101:1-2409121756125.558583871251
• Rechteinformation: Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.