Mechanical & Materials Engineering, Department of


Date of this Version

Summer 7-23-2012


A THESIS Presented to the Faculty of The Graduate College at the University of Nebraska In Partial Fulfillment of Requirements For the Degree of Master of Science, Major: Mechanical Engineering, Under the Supervision of Professor Shane M. Farritor. Lincoln, Nebraska: August, 2012

Copyright (c) 2012 Nikhil Charuhas Salvi


Laparo-Endoscopic Single Site (LESS) Robotics Surgery is an advanced technology in the field of Minimally Invasive Surgery (MIS). The LESS surgical robots significantly improve the surgeon’s accuracy, dexterity and visualization, and reduce the invasiveness of surgical procedure results in faster recovery time and improved cosmetic results. In a standard robotic endosurgery, the palpation of tissues is performed by laparoscopic graspers located at the end effectors. The master-slave configuration in robotic surgery leads in remote access to the operation site. Therefore, surgeon’s ability to perceive valuable sensory information is severely diminished. Sensory information such as haptics, which is essential for safe tissue and organ palpation, is not possible due to absence of direct access. Therefore, unknowingly excessive grasping forces are exerted by the laparoscopic graspers could lead to tissue trauma and vital tissues and organs damage.

This thesis presents the several aspects of haptic feedback system including a design and analysis of force sensing forearm to measure grasping forces exerting on tissues during palpation tasks, 4-CH bilateral teleoperated Impedance-Impedance based robotic control architecture for haptics and design and developments of Surgical Haptics-User Interface Devices (H-UID). The entire haptics feedback system has been implemented in miniature in vivo surgical robots and tested in animal surgeries at University of Nebraska Medical Center (UNMC). The results of bench-tops and animal surgeries in the presence of haptics were discussed. The haptic feedback system has established the ability to differentiate the different objects of different stiffness, provide appropriate grasping force control and reduce tissues palpation time as a result improve performance of the surgeon.

Advisor: Shane M. Farritor