Design, Analysis, Implementation and Experimental Evaluation of a Tactile Sensor System to Detect the Compliance of Large Soft Tissue, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam (Supervisor) ; KazemZadeh Hannani, Siamak (Supervisor)
Abstract
There has been a rising trend towards robotic tele-surgery operations in recent years. A major concern, however, is the lack of direct contact between the surgeon and patient’s body. Several researchers have proposed various designs of tactile sensors for surgical instruments to improve the dexterity of surgeons. Previously designed sensors, however, are mostly suitable for instruments with small contact areas. In this thesis, a novel tactile sensor is introduced in integration with the teeth of a surgical grasper for large organs. It includes strain gauges embedded underneath a toothed plate, which also acts as grasping teeth of the jaws of the instrument. The thickness of the plate and the...
Cataloging briefDesign, Analysis, Implementation and Experimental Evaluation of a Tactile Sensor System to Detect the Compliance of Large Soft Tissue, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam (Supervisor) ; KazemZadeh Hannani, Siamak (Supervisor)
Abstract
There has been a rising trend towards robotic tele-surgery operations in recent years. A major concern, however, is the lack of direct contact between the surgeon and patient’s body. Several researchers have proposed various designs of tactile sensors for surgical instruments to improve the dexterity of surgeons. Previously designed sensors, however, are mostly suitable for instruments with small contact areas. In this thesis, a novel tactile sensor is introduced in integration with the teeth of a surgical grasper for large organs. It includes strain gauges embedded underneath a toothed plate, which also acts as grasping teeth of the jaws of the instrument. The thickness of the plate and the...
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