Mechanical Characterization of the Immersion Corp. Haptic, Bimanual, Surgical Simulator Interface

  • Kenneth J. Waldron
  • Kate Tollon
Conference paper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 5)


In this paper the design of a bimanual haptic interface device for simulation of minimally invasive surgical procedures is described. Each of the two handles has five haptic degrees of freedom. The workspace of the device was designed to accommodate the working volumes required by a set of common minimally invasive abdominal surgical procedures. Preliminary measurements of the electromechanical performance of the device are also presented.


Grip Force Mechanical Characterization Haptic Interface Passive Resistance Soft Tissue Model 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Kenneth J. Waldron
    • 1
  • Kate Tollon
    • 1
  1. 1.Department of Mechanical EngineeringStanford UniversityStanfordUSA

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