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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)

Abstract

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.

Keywords

Grip Force Mechanical Characterization Haptic Interface Passive Resistance Soft Tissue Model 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. 1.
    Hasser, C.J. and Cutkosky, M.R., 2002, System identification of the Human Hand Grasping a Haptic Knob, Proceedings of IEEE Symposium on Haptic Devices for Virtual Environment and Teleoperator Systems, Orlando, Florida, March 2002.Google Scholar
  2. 2.
    Heinrichs, W.L., Montgomery, K., Hasser, C., Srivastava, S., Brown, J., Latombe, J.C. and Dev, P., “Bimanual Surgical Manipulations on a Surgical Workbench with Lucy 2.6, A Complete Stereoscopic, Deformable Pelvic Model”, presented at 10th Medicine Meets Virtual Reality (MMVR) conference, Newport Beach, CA, Jan. 2002.Google Scholar
  3. 3.
    Montgomery, K., Bruyns, C., Brown, J., Sorkin, S., Mazella, F., Thonier, G., Tellier, A., Lerman, B., Menon, A., (2002), “SPRING: A General Framework for Collaborative, Real-time Surgical Simulation”, Medicine Meets Virtual Reality 02/10, Westwood, J.D. et al eds., IOS Press.Google Scholar

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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