In endoscopy, tissue manipulation is performed by long graspers which do not reflect the grasping force to the surgeon hand properly, due to their mechanical limitations. In this study, other electro-mechanical designs are considered to enhance the force reflection. The type synthesis of such a haptic interface leads to the application of tunable springs. The design of tunable spring is optimized based on the haptic and surgical requirements. Moreover, by using suitable control laws, it was shown that the primary requirements can be met according to the simulation results. The limited bandwidth of such a system, along with possible improvements, and future works are also discussed.

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