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
收藏
页码：6054 / +
页数：2
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