Tissue characterization in medical robotics

Mohsen Moradi Dalvand, Bijan Shirinzadeh, Saeid Nahavandi, Robert D Howe

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review


The lack of haptic feedback has negatively affected the surgeon's ability to palpate and diagnose tissue and differentiate its stiffness during surgical operations with commercially available robotic assisted surgical systems. A modular surgical instrument capable of non-invasive measurement of sideways tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems is presented in this paper. The proposed force measurement technique enables the actual non-invasive measurement of the sideways interaction forces at the tip jaws. The instrument has two actuation degrees of freedom (DOF) for the tip operation and grasping orientation. The tip functionality type (e.g., grasping, cutting, and dissecting) can also be changed quickly and easily. Experiments were conducted to evaluate functionalities of the proposed instrument in palpating tissues. The results are presented and analysed here that verify the capability of the proposed instrument in accurately measuring lateral tip/tissue interaction forces.

Original languageEnglish
Title of host publicationProceedings - IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN 2014)
Subtitle of host publicationHuman-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions
EditorsFarshid Amirabdollahian
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781479967636
ISBN (Print)9781479967636
Publication statusPublished - 2014
EventIEEE/RSJ International Symposium on Robot and Human Interactive Communication 2014 - Edinburgh, United Kingdom
Duration: 25 Aug 201429 Aug 2014
Conference number: 23rd
https://ieeexplore.ieee.org/xpl/conhome/6919203/proceeding (Proceedings)


ConferenceIEEE/RSJ International Symposium on Robot and Human Interactive Communication 2014
Abbreviated titleRO-MAN 2014
CountryUnited Kingdom
Internet address


  • Actuation Mechanism
  • Force Measurement
  • Laparoscopic Instrument
  • Modularity
  • Robotic Assisted Minimally Invasive Surgery (RAMIS)
  • Strain Gages
  • Transmission Mechanism

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