Force reflection for a laparoscopic forceps

Image-Guided Robotic Interventions for Breast Biopsy and Ablative Therapies: Challenges and Opportunities

“…Many of the developed surgical tools and systems have also incorporated a force reflection component for a specific surgical procedure or task. One typical configuration is the addition of a force feedback handle that allows a surgeon to remotely control the surgical tool, as well as receive tool-tissue interaction forces as in conventional laparoscopic surgery [40][41][42][43][44]. Other researchers have used general application haptic devices to reflect the surgical forces to the surgeon.…”

Engineering Approaches to Mechanical and Robotic Design for Minimally Invasive Surgery (MIS)

“…The combination of Classes 1 and 2 would be far more difficult to implement (with two separate actuation and control systems for each class) and less feasible for successful operation than Classes 3 or 4 individually. Class 3 is the typical solution for tele-operation and force reflection [88]. However, this design may require a relatively bulky actuator to provide the required torque (e.g., even for 1.4 Nm (190 Oz-in) stalling torque, the size of DC motor would be approximately OD.70x120mm weighing 1.5Kg 3 , and for a torque motor with 1.7Nm (230 Oz-in) peak torque, OD.100x40mm 4 ).…”