Technical Brief

Effects of Grasp Frequency on the Dynamics of a Robotic Surgical Grasper1

[+] Author and Article Information
Mark J. Brown, Trevor K. Stephens, John J. O'Neill, Timothy M. Kowalewski

Department of Mechanical Engineering,
University of Minnesota,
Minneapolis, MN 55455

DOI: 10.1115/1.4033844Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030957 (Aug 01, 2016) (2 pages) Paper No: MED-16-1121; doi: 10.1115/1.4033844 History: Received March 01, 2016; Revised March 17, 2016

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Sie, A. , and Kowalewski, T. M. , 2013. “ Quantifying Forces at the Tool-Tissue Interface of a Surgical Laparoscopic Grasper,” ASME J. Med. Devices, 7(3), p. 030913. [CrossRef]
Stephens, T. K. , Meier, Z. C. , Sweet, R. M. , and Kowalewski, T. M. , 2015. “ Tissue Identification Through Back End Sensing on da Vinci Endowrist Surgical Tool,” ASME J. Med. Devices, 9(3), p. 030939. [CrossRef]
Brown, J. D. , Rosen, J. , Kim, Y. S. , Chang, L. , Sinanan, M. N. , and Hannaford, B. , 2003, “ In-Vivo and In-Situ Compressive Properties of Porcine Abdominal Soft Tissues,” Stud. Health Technol. Inf., 94, pp. 26–32.


Grahic Jump Location
Fig. 1

Calibration testbed

Grahic Jump Location
Fig. 2

The percent contribution to θee,fit

Grahic Jump Location
Fig. 3

Fit versus measured θee (top) and error (bottom)



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