Paper Title:
Haptic Control for Minimally Invasive Robotic Surgery
  Abstract

Minimally invasive robotic surgery has been investigated in various surgical application due to high accuracy, fine manipulation capability, tele-operation. Haptic feedback plays a significant role in MIS. In this paper, a dynamics model of a haptic robot is established, and PID algorithm is proposed. To prove the proposed method, an experimental system has been developed. Simulations and experiments show proposed methods is an effective method to master-slave MIRS.

  Info
Periodical
Advanced Materials Research (Volumes 291-294)
Chapter
Dynamic Mechanical Analysis, Optimization and Control
Edited by
Yungang Li, Pengcheng Wang, Liqun Ai, Xiaoming Sang and Jinglong Bu
Pages
1600-1603
DOI
10.4028/www.scientific.net/AMR.291-294.1600
Citation
Z. H. Xu, C. L. Song, S. J. Yan, "Haptic Control for Minimally Invasive Robotic Surgery", Advanced Materials Research, Vols. 291-294, pp. 1600-1603, 2011
Online since
July 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Han Jun Cho, Jong Seok Oh, Seung Bok Choi
Mechatronics
Abstract:This study presents the configuration and modeling of haptic mater device for minimally invasive surgery (MIS) using ER fluid. The haptic...
577
Authors: Won Ki Shin, Seung Bok Choi
Chapter 3: Robotics and its Motor System
Abstract:In this research, a slave robot is proposed and integrated with an electrorheological (ER) haptic master for minimally invasive surgery...
551
Authors: Vladimir Prada, Gregory Conde, Armando Figueredo, Julián Sánchez, Alexander Santos
Chapter 9: Mechatronics, Control and Robotics
Abstract:This paper presents the design and construction of a haptic device. This device aims to generate a tactile feedback to the user. The feedback...
718