Haptic feedback and control of a flexible surgical endoscopic robot.
Identifieur interne : 001B59 ( Main/Merge ); précédent : 001B58; suivant : 001B60Haptic feedback and control of a flexible surgical endoscopic robot.
Auteurs : Zheng Wang [Singapour] ; Zhenglong Sun ; Soo Jay PheeSource :
- Computer methods and programs in biomedicine [ 1872-7565 ] ; 2013.
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Abstract
A flexible endoscope could reach the potential surgical site via a single small incision on the patient or even through natural orifices, making it a very promising platform for surgical procedures. However, endoscopic surgery has strict spatial constraints on both tool-channel size and surgical site volume. It is therefore very challenging to deploy and control dexterous robotic instruments to conduct surgical procedures endoscopically. Pioneering endoscopic surgical robots have already been introduced, but the performance is limited by the flexible neck of the robot that passes through the endoscope tool channel. In this article we present a series of new developments to improve the performance of the robot: a force transmission model to address flexibility, elongation study for precise position control, and tissue property modeling for haptic feedback. Validation experiment results are presented for each sector. An integrated control architecture of the robot system is given in the end.
DOI: 10.1016/j.cmpb.2013.01.018
PubMed: 23561289
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pubmed:23561289Le document en format XML
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However, endoscopic surgery has strict spatial constraints on both tool-channel size and surgical site volume. It is therefore very challenging to deploy and control dexterous robotic instruments to conduct surgical procedures endoscopically. Pioneering endoscopic surgical robots have already been introduced, but the performance is limited by the flexible neck of the robot that passes through the endoscope tool channel. In this article we present a series of new developments to improve the performance of the robot: a force transmission model to address flexibility, elongation study for precise position control, and tissue property modeling for haptic feedback. Validation experiment results are presented for each sector. An integrated control architecture of the robot system is given in the end.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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