Simon Fraser University

Ali Faraz

Shahram Payandeh

Shaharam Payandeh

A haptic interface for a remote manipulator uses a tunable spring to provide force reflection. The remote manipulator has an operating member coupled to the tunable spring. The operating member is also coupled to a manipulator member. A controller monitors the force with which an operator so moves the operating member and varies a spring constant of the tunable spring to keep the force exerted by the manipulator member on an object at a desired level. The haptic interface allows simultaneous control over the maximum force exerted by the manipulator member as well as the transmission ratio between the operating member and the manipulator member. The remote manipulator may be a surgical grasper, for example. A tunable spring can be smaller and lighter than the high torque actuators used in some prior remote manipulators which provide force feedback.

Remote manipulator with force feedback and control

A support stand for surgical implements is disclosed. The support stand provides an operating environment which is particularly useful for use in laparoscopic surgery. The support stand is compact and includes positionable wrists for providing spherical motion of surgical implements about fixed points which can be made to coincide with incisions in a patient being operated on. Each wrist includes a member pivotally mounted to a support arm. Rotating the member provides rotation about a first axis passing through a fixed point. A surgical instrument holder is connected to the member by a linkage which provides rotation about a second axis passing through the fixed point. The linkage has four pivotally connected links, two of which are bent through an angle to provide precise spherical rotation about the fixed point.

Adjustable surgical stand

A suturing device is disclosed. The suturing device has particular application in surgery and is readily adaptable for use in laparoscopic surgery. The suturing device has an arcuate needle which is circulated around a circular path. The needle is driven by a drive belt which bears against the rear faces of a pair of closely spaced guides. Idler rollers behind the belt pinch the needle against the guides and slightly deform the drive belt. The needle is firmly gripped between the belt and the guides. The guides and the needle each subtend an angle of about 240.degree.. The motion of the needle is reversible. A surgeon can regulate the motion of the needle by turning a wheel with a fingertip. A pair of tissue gripping jaws are provided to hold tissues in place during suturing. The suturing device may be used to form a knot after a suture has been placed.

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Coquitlam, Canada

Ali Faraz