Force controlled and teleoperated endoscopic grasper for minimally invasive surgery-experimental performance evaluation

@article{Rosen1999ForceCA,
  title={Force controlled and teleoperated endoscopic grasper for minimally invasive surgery-experimental performance evaluation},
  author={Jacob Rosen and Blake Hannaford and M D Macfarlane and M. Sinanan},
  journal={IEEE Transactions on Biomedical Engineering},
  year={1999},
  volume={46},
  pages={1212-1221}
}
Minimally invasive surgery generates new user interfaces which create visual and haptic distortion when compared to traditional surgery. In order to regain the tactile and kinesthetic information that is lost, a computerized force feedback endoscopic surgical grasper (FREG) was developed with computer control and a haptic user interface. The system uses standard unmodified grasper shafts and tips. The FREG can control grasping forces either by surgeon teleoperation control, or under software… CONTINUE READING
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