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Robotic System to Evaluate Force Feedback in Minimally Invasive Computer Aided Surgery

[+] Author Affiliations
Hermann Mayer, István Nagy, Alois Knoll

Technische Universität München, Garching, Germany

Eva Schirmbeck, Robert Bauernschmitt

Deutsches Herzzentrum München, München, Germany

Paper No. DETC2004-57046, pp. 141-146; 6 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


We present an experimental system for robot assisted, minimally invasive surgery that is capable of force measurement and haptic feedback. While minimally invasive surgery with robots provides several advantages like reduced tissue trauma and shorter recovery times, there are also some inherent short-comings. Referring to surgeons, the most significant issue is the lack of haptic feedback. This often causes collateral trauma and leads to prolonged operation time. Therefore we have developed an open platform, which combines the advantages of present systems with the possibility of force reflection. We have included features known from commercial available systems, like full Cartesian control of the end effector, stereo vision and ergonomic input devices. We used the system to perform basic surgical tasks (like knot-tying) and to evaluate force feedback.

Copyright © 2004 by ASME



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