Design And Evaluation Of A Balanced Compliant Laparoscopic Grasper
نویسندگان
چکیده
Objective : In laparoscopic surgery, quality of haptic feedback is reduced compared to conventional leading unintentional tissue damage during grasping. From the perspective haptics, poor mechanical design instrument joints induces friction and a nonlinear actuation - tip force relation. this study, novel grasper using compliant magnetic balancer presented, reduction in hysteresis evaluated. xmlns:xlink="http://www.w3.org/1999/xlink">Methods & Results The loop two graspers (high commercial brand low unbranded grasper) were measured. order assess feedback, lowest load perceivable by users was measured with graspers. measurement yielded efficiency 43% for grasper, to- 25% 23% Aesculap respectively. forces user through significantly lower (mean 1.37N, SD 0.44N) than those 2.15N, 0.71N mean 2.65N, 1.20N, respectively). xmlns:xlink="http://www.w3.org/1999/xlink">Conclusions balanced technology has ability improve Research needed relate these results soft delicate grasping clinical setting, which intended.
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ژورنال
عنوان ژورنال: IEEE Journal of Translational Engineering in Health and Medicine
سال: 2023
ISSN: ['2168-2372']
DOI: https://doi.org/10.1109/jtehm.2023.3291925