Robot-assisted microsurgical forceps with haptic feedback for transoral laser microsurgery

Abstract

In this paper, a novel, motorized, multi-degrees-of-freedom (DoF), microsurgical forceps tool is presented, which is based on a master-slave teleoperation architecture. The slave device is a 7-DoF manipulator with: (i) 6-DoF positioning and orientation, (ii) 1 open/close gripper DoF; and (iii) an integrated force/torque sensor for tissue grip-force… (More)
DOI: 10.1109/EMBC.2016.7591888

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