Force feedback without sensor : a preliminary study on haptic modeling
Haptic feedback is an active trend in robotic surgery. However, it is not always feasible to place physical force sensors on the robotic tool-tips due to size or other constraints. Haptic modeling of the organ/tissue could be an alternative approach to provide estimated force information from availa...
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| Main Authors: | , , |
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| 其他作者: | |
| 格式: | Article |
| 語言: | English |
| 出版: |
2013
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| 在線閱讀: | https://hdl.handle.net/10356/98437 http://hdl.handle.net/10220/12446 |
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| 機構: | Nanyang Technological University |
| 語言: | English |
| 總結: | Haptic feedback is an active trend in robotic surgery. However, it is not always feasible to place physical force sensors on the robotic tool-tips due to size or other constraints. Haptic modeling of the organ/tissue could be an alternative approach to provide estimated force information from available data. In this paper, we investigate haptic modeling to provide real-time force estimation in endoscopic surgery. Viscoelastic behavior of the gastrointestinal organ/tissue needs to be taken into consideration. Hence, we proposed a modified haptic model based on commonly-used lumped models, in order to restore the tool-tissue interaction force by using the robot motion. Performance of this approach was evaluated by ex-vivo experiments. The proposed model is capable of approximating the interaction force. Discussions were made on possible limitations and problems in the implementation of such approach. |
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