Design and Implementation of Series Elastic Actuators for a Haptic Laparoscopic Device

被引：15

作者：

Basafa, E. ^{[1
,2
,7
]}

Sheikholeslami, M. ^{[2
,3
]}

Mirbagheri, A. ^{[2
,5
,6
]}

Farahmand, F. ^{[4
]}

Vossoughi, G. R. ^{[4
]}

机构：

[1] Johns Hopkins Univ, Mech Engn, Baltimore, MD 21218 USA

[2] Sharif Univ Technol, Mech Engn, Tehran, Iran

[3] McGill Univ, Mech Engn, Montreal, PQ, Canada

[4] Sharif Univ Technol, Sch Mech Engn, Tehran, Iran

[5] Res Ctr Sci & Technol Med, Tehran, Iran

[6] Sharif Univ Technol, Tehran, Iran

[7] Sharif Univ Technol, Biomech Engn, Tehran, Iran

来源：

2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20 | 2009年

关键词：

D O I：

10.1109/IEMBS.2009.5332616

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

The design of a laparoscopic haptic device based on a 4-DOFs mechanism and Series Elastic Actuators (SEA) is described and the results of the theoretical and experimental examinations are presented. With a sufficient bandwidth and low impedance, the system provided a stable interaction with soft tissues, e.g., human liver, in virtual environments.

引用

页码：6054 / +

页数：2

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