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Technical Brief

Force-Sensing Sleeve for Laparoscopic Surgery1

[+] Author and Article Information
Justin Wee

Center for Image Guided Innovation and
Therapeutic Intervention,
Hospital for Sick Children,
Toronto, ON M5G 1X8, Canada;
Institute for Biomaterials and Biomedical Engineering,
University of Toronto,
Toronto, ON M5S, Canada

Robert J. Brooks

Center for Image Guided Innovation and
Therapeutic Intervention,
Hospital for Sick Children,
Toronto, ON M5G 1X8, Canada;
Mechanical and Industrial Engineering,
University of Toronto,
Toronto, ON M5S 3G8, Canada

Thomas Looi, Georges Azzie, James Drake, J. Ted Gerstle

Center for Image Guided Innovation and
Therapeutic Intervention,
Hospital for Sick Children,
Toronto, ON M5G 1X8, Canada

DOI: 10.1115/1.4033810Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030946 (Aug 01, 2016) (2 pages) Paper No: MED-16-1118; doi: 10.1115/1.4033810 History: Received March 01, 2016; Revised March 17, 2016

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Figures

Grahic Jump Location
Fig. 1

Strain gauges on force-sensing sleeve: (a) linear strain gauges, (b) torque strain gauge, and (c) sleeve applied to tool shaft

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Fig. 2

Load testing (loads: 5.0 and 9.4 N, n = 5). Each load was achieved using five separate weights. The 5.0 and 9.4 N loads obtained average R2 values of 0.99838 and 0.99557, respectively. Error bars shown are standard deviation.

Grahic Jump Location
Fig. 3

Average effect of hysteresis (loads 1.1, 5.0, and 9.4 N, n = 5). Each load was achieved using five separate weights. For the 1.1, 5.0, and 9.4 N loads, the average hysteresis resistance change was−0.001, 0.002, and 0.006 Ω, respectively. Errors bars shown are standard deviation.

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