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A Sensorized Instrument For Minimally Invasive Surgery For The Measurement Of Forces During Training And Surgery: Development And Applications, Ana Luisa Trejos

Electronic Thesis and Dissertation Repository

The reduced access conditions present in Minimally Invasive Surgery (MIS) affect the feel of interaction forces between the instruments and the tissue being treated. This loss of haptic information compromises the safety of the procedure and must be overcome through training. Haptics in MIS is the subject of extensive research, focused on establishing force feedback mechanisms and developing appropriate sensors. This latter task is complicated by the need to place the sensors as close as possible to the instrument tip, as the measurement of forces outside of the patient's body does not represent the true tool--tissue interaction. Many force sensors …