Paper Info
Title
Palpation instrument for augmented minimally invasive surgery.
Abstract
A preliminary design of a remote palpation in- strument for Minimally Invasive Surgery (MIS) is given. The lack of the tactile sense in MIS limits the surgeon's abilities to examine and palpate internal organs. Based on this problem, the aim of this paper is to describe a surgical instrument which will serve as an extension of the surgeon's fingers. A piezoelectric sensor array attached to the instrument's end effector will provide tactile information, which will be sent to the surgeon's fingers via a tactile display to provide a feeling of the shape and hardness of the tissue. The sensor array is 24 mm * 8 mm and consists of 30 piezoelectric sensors, while the tactile display constitutes of 30 micro motors adding up to a total size of 32 mm * 18 mm * 45 mm.
Year
DOI
Venue
2004
10.1109/IROS.2004.1390033
IROS
Keywords
Field
DocType
sensor array,surgery,piezoelectric sensor,end effectors,tactile sensors
Biomedical engineering,Computer science,Sensor array,Surgical instrument,Control engineering,Piezoelectric sensor,Artificial intelligence,Surgery,Tactile sensor,Computer vision,Tactile display,Robot end effector,Palpation,Tactile sense
Conference
Citations 
PageRank 
References 
8
0.89
3
Authors
3
Name
Order
Citations
PageRank
Maria V. Ottermo1121.44
Øyvind Stavdahl212515.09
Tor A. Johansen31008148.90