5. Bulk Softness Measurement Using a Smart Endoscopic Grasper

  1. Saeed Sokhanvar1,
  2. Javad Dargahi2,
  3. Siamak Najarian3 and
  4. Siamak Arbatani2

Published Online: 6 NOV 2012

DOI: 10.1002/9781118357989.ch5

Tactile Sensing and Displays: Haptic Feedback for Minimally Invasive Surgery and Robotics

Tactile Sensing and Displays: Haptic Feedback for Minimally Invasive Surgery and Robotics

How to Cite

Sokhanvar, S., Dargahi, J., Najarian, S. and Arbatani, S. (2012) Bulk Softness Measurement Using a Smart Endoscopic Grasper, in Tactile Sensing and Displays: Haptic Feedback for Minimally Invasive Surgery and Robotics, John Wiley & Sons, Ltd, Chichester, UK. doi: 10.1002/9781118357989.ch5

Author Information

  1. 1

    Helbling Precision Engineering Inc., USA

  2. 2

    Concordia University, Montreal, Canada

  3. 3

    Amirkabir University of Technology, Tehran, Iran

Publication History

  1. Published Online: 6 NOV 2012
  2. Published Print: 23 NOV 2012

ISBN Information

Print ISBN: 9781119972495

Online ISBN: 9781118357989

SEARCH

Keywords:

  • bulk softness measurement using smart endoscopic grasper;
  • dynamic load characteristics in object grasp;
  • smart endoscopic grasper response, in object behavior/softness;
  • smart laparoscopic grasper, for grasper jaw angle bulk softness;
  • endoscopic tactile sensor, force in sensorized grasper calibration;
  • endoscopic grasper with two FSR, and a linear potentiometer;
  • LabVIEW, and the measured softness of five materials;
  • grasp speed affect on force–angle, and slope/energy average;
  • grasper calibration, force–angle curve with friction minimized;
  • sinusoidal waveform in fabricated MIS test, in lab setup

Summary

This chapter contains sections titled:

  • Introduction

  • Problem Definition

  • Method

  • Energy and Steepness

  • Calibrating the Grasper

  • Results and Discussion

  • References