Full Content is available to subscribers

Subscribe/Learn More  >

An Endoscopic Grasper Tool With Integrated Tactile Sensors for Use in Minimally Invasive Surgery

[+] Author Affiliations
Javad Dargahi, Siamak Najarian

Concordia University, Montreal, QC, Canada

Paper No. ESDA2004-58180, pp. 421-426; 6 pages
  • ASME 7th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 3
  • Manchester, England, July 19–22, 2004
  • ISBN: 0-7918-4175-8 | eISBN: 0-7918-3741-6
  • Copyright © 2004 by ASME


In this paper, we report on the design, testing, fabrication, and modeling of a semiconductor-based microstrain gauge endoscopic tactile sensor. This sensor is capable of measuring both the magnitude and the position of an applied load on a commercial endoscopic grasper tool. It consists of two microstrain gauge sensors, placed on the prototype endoscopic grasper. A light emitting diode device is used to visually see the intensity of the applied force. In total, 20 different force magnitudes for 7 different locations on the endoscopic grasper are tested experimentally. The range of force magnitude changes in the domain of 0.5 N to 10 N. The in-house electrical amplification system for the microstrain gauges is also designed, fabricated, and tested. The sensor is insulated and can operate safely in wet environments. The designed sensor assembly exhibits high force sensitivity, good linearity, and large dynamic range. A three-dimensional finite element modeling (FEM) is employed to predict the behavior of the designed system. Based on FEM results, there is a good agreement between these data the results obtained experimentally.

Copyright © 2004 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In