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Biomedical Engineering and Bioengineering Commons™
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Full-Text Articles in Biomedical Engineering and Bioengineering
Analysis Of Strain Transfer To Fbg’S For Sensorized Telerobotic End-Effector Applications, Dean Callaghan, Mark Mcgrath, Ginu Rajan, Eugene Coyle, Yuliya Semenova, Gerald Farrell
Analysis Of Strain Transfer To Fbg’S For Sensorized Telerobotic End-Effector Applications, Dean Callaghan, Mark Mcgrath, Ginu Rajan, Eugene Coyle, Yuliya Semenova, Gerald Farrell
Books/Book chapters
Sensorized instruments which cater for the measurement of interaction forces during surgical procedures are not available on current commercial Minimally Invasive Robotic Surgical (MIRS) systems. This paper investigates the ef-fectiveness of advanced optical sensing technology (Fiber Bragg Grating) as sur-gical end effector strain/force sensors. The effects of adhesive bonding layer thickness and length are specifically addressed owing to their importance for ef-fective strain transfer and ensuring compactness of the resulting sensing arrange-ment. The strain transfer characteristics of the compound sensing arrangement are evaluated by the examination of shear transfer through the fiber coating and adhe-sive layers. Detailed analysis of the …
Force Measurement Methods In Telerobotic Surgery: Implications For End-Effector Manufacture, Dean Callaghan, Mark Mcgrath, Eugene Coyle
Force Measurement Methods In Telerobotic Surgery: Implications For End-Effector Manufacture, Dean Callaghan, Mark Mcgrath, Eugene Coyle
Articles
Haptic feedback in telesurgical applications refers to the relaying of position and force information from a remote surgical site to the surgeon in real-time during a surgical procedure. This feedback, coupled with visual information via microscopic cameras, has the potential to provide the surgeon with additional ‘feel’ for the manipulations being performed at the instrument-biological tissue interface. This increased sensitivity has many associated benefits which include, but are not limited to; minimal tissue damage, reduced recuperation periods, and less patient trauma. The inclusion of haptic feedback leads to reduction in surgeon fatigue which contributes to enhanced performance during operation. Commercially …