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Authors: K. Houston 1 ; O. Tonet 1 ; C. Eder 1 ; A. Menciassi 1 ; P. Dario 1 and A. Sieber 2

Affiliations: 1 CRIM Laboratory, Scuola Superiore Sant’Anna, Italy ; 2 Profactor Research & Solutions GmbH, Austria

Keyword(s): Microhandling, sensorised, microgripper, teleoperation, haptic, force feedback.

Related Ontology Subjects/Areas/Topics: Biomedical Engineering ; Biomedical Equipment ; Biomedical Instrumentation ; Biomedical Instruments and Devices ; Biomedical Sensors ; Biorobotics ; Hardware ; MEMS ; Sensor Networks

Abstract: In this paper a teleoperation system is presented which consists of a sensorised polymer microgripper as a suitable end effector on an endoscopic microinstrument which is controlled by a novel tweezer-like haptic input device. This tweezer device gives the operator the ability to remotely feel these forces generated by grasping operations with the microgripper. This feedback is used to control the amount of force applied in manipulation of tissues during the procedure. The mechanical and electronic design of the microgripper, microinstrument and haptic tweezers is also presented and preliminary results detailed.

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Paper citation in several formats:
Houston, K.; Tonet, O.; Eder, C.; Menciassi, A.; Dario, P. and Sieber, A. (2008). NOVEL HAPTIC TOOL AND INPUT DEVICE FOR BILATERAL BIOMANIPULATION ADDRESSING ENDOSCOPIC SURGERY. In Proceedings of the First International Conference on Biomedical Electronics and Devices (BIOSTEC 2008) - Volume 1: BIODEVICES; ISBN 978-989-8111- 17-3; ISSN 2184-4305, SciTePress, pages 64-69. DOI: 10.5220/0001047100640069

@conference{biodevices08,
author={K. Houston. and O. Tonet. and C. Eder. and A. Menciassi. and P. Dario. and A. Sieber.},
title={NOVEL HAPTIC TOOL AND INPUT DEVICE FOR BILATERAL BIOMANIPULATION ADDRESSING ENDOSCOPIC SURGERY},
booktitle={Proceedings of the First International Conference on Biomedical Electronics and Devices (BIOSTEC 2008) - Volume 1: BIODEVICES},
year={2008},
pages={64-69},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001047100640069},
isbn={978-989-8111- 17-3},
issn={2184-4305},
}

TY - CONF

JO - Proceedings of the First International Conference on Biomedical Electronics and Devices (BIOSTEC 2008) - Volume 1: BIODEVICES
TI - NOVEL HAPTIC TOOL AND INPUT DEVICE FOR BILATERAL BIOMANIPULATION ADDRESSING ENDOSCOPIC SURGERY
SN - 978-989-8111- 17-3
IS - 2184-4305
AU - Houston, K.
AU - Tonet, O.
AU - Eder, C.
AU - Menciassi, A.
AU - Dario, P.
AU - Sieber, A.
PY - 2008
SP - 64
EP - 69
DO - 10.5220/0001047100640069
PB - SciTePress

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