Figure 4
From: Multi-Modal Haptic Feedback for Grip Force Reduction in Robotic Surgery
Multi-Modal HFS system architecture, Average component delays marked in milliseconds. (A) Sensors mounted on da Vinci instruments. Da Vinci Cadiere grasper measuring 5 mm × 14 mm shown on the left. Cadiere graspers with pressure sensors installed on the top right and 12 mm Trocar47,48,49 on the bottom right. (B) Sensor board. (C) Haptics Manager Software Architecture. (D) CAD model of 3D-printed depressed membrane tactile actuator and the tactile feedback actuator mounted on da Vinci controls. (E) Multi-Modal HFS Control hardware. (F) Dual-Valve pressure regulation system for use with the modified 3D-printed actuators (w/pneumatic tube for providing kinesthetic force feedback).
