title: Mechatronic design of haptic forceps for robotic surgery.
abstract: BACKGROUND
  Haptic feedback increases operator performance and comfort during telerobotic manipulation. Feedback of grasping pressure is critical in many microsurgical tasks, yet no haptic interface for surgical tools is commercially available.
  
  
  METHODS
  Literature on the psychophysics of touch was reviewed to define the spectrum of human touch perception and the fidelity requirements of an ideal haptic interface. Mechanical design and control literature was reviewed to translate the psychophysical requirements to engineering specification. High-fidelity haptic forceps were then developed through an iterative process between engineering and surgery.
  
  
  RESULTS
  The forceps are a modular device that integrate with a haptic hand controller to add force feedback for tool actuation in telerobotic or virtual surgery. Their overall length is 153 mm and their mass is 125 g. A contact-free voice coil actuator generates force feedback at frequencies up to 800 Hz. Maximum force output is 6 N (2N continuous) and the force resolution is 4 mN. The forceps employ a contact-free magnetic position sensor as well as micro-machined accelerometers to measure opening/closing acceleration. Position resolution is 0.6 microm with 1.3 microm RMS noise. The forceps can simulate stiffness greater than 20N/mm or impedances smaller than 15 g with no noticeable haptic artifacts or friction.
  
  
  CONCLUSIONS
  As telerobotic surgery evolves, haptics will play an increasingly important role.
authors.affiliation: University of Calgary, Calgary, Alberta, Canada. prizun@ucalgary.ca
authors.forename: P
authors.initials: P
authors.lastname: Rizun
authors.forename: D
authors.initials: D
authors.lastname: Gunn
authors.forename: B
authors.initials: B
authors.lastname: Cox
authors.forename: G
authors.initials: G
authors.lastname: Sutherland
mesh_terms: D017076:Computer-Aided Design; D004581:Electronics; D004867:Equipment Design / Q000379:methods*; D019544:Equipment Failure Analysis; D019563:Mechanics; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D012680:Sensitivity and Specificity; D013314:Stress, Mechanical; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D013525:Surgical Instruments; D017216:Telemedicine / Q000295:instrumentation* / Q000379:methods; D014110:Touch; D014159:Transducers; D014584:User-Computer Interface