Experimental analysis of a haptic interface design for endosurgery

摘要

In Endosurgery, tissue manipulation is performed by long graspers which have poor force-reflection property, i.e. they do not reflect the grasping force to the gand of the surgeon. In this paper, a novel design of electro-mechanical system is considered which can enhance the force-reflecting capability of endosurgical graspers. The type synthesis of such a haptic interface have led to the application of tunable spring. The design of tunable spring is optimized based on the haptic and surgical requirements. Moreover, by using suitable control laws, it is shown that the primary requirements of the design application can be met. Simulation and experimental results are presented using a prototype model of such haptic interface[6] to demonstrate the practicality of such design concept.