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Force/position-based modular system for minimally invasive surgery

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5 Author(s)
Trejos, A.L. ; Lawson Health Res. Inst., CSTAR, London, ON, Canada ; Lyle, A.C. ; Escoto, A. ; Naish, M.D.
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The limitations of minimally invasive surgery include the inability to sense forces exerted by the instruments on tissue and the limited visual cues available through the endoscope. A modular laparoscopic instrument capable of measuring force and position has been designed to address these limitations. Novel image-based position tracking software has been developed and integrated within a graphical user interface. This modular system is low cost, versatile, and could be used for training, localization of critical features or for guidance during surgical procedures.

Published in:

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Date of Conference:

3-7 May 2010

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