Estimation of environmental force for the haptic interface of robotic surgery.
Identifieur interne : 001555 ( Ncbi/Checkpoint ); précédent : 001554; suivant : 001556Estimation of environmental force for the haptic interface of robotic surgery.
Auteurs : Hyoung Il Son [Allemagne] ; Tapomayukh Bhattacharjee ; Doo Yong LeeSource :
- The international journal of medical robotics + computer assisted surgery : MRCAS [ 1478-596X ] ; 2010.
English descriptors
- KwdEn :
- MESH :
- instrumentation : Biomedical Engineering.
- Feedback, Least-Squares Analysis, Regression Analysis, Software.
Abstract
The success of a telerobotic surgery system with haptic feedback requires accurate force-tracking and position-tracking capacity of the slave robot. The two-channel force-position control architecture is widely used in teleoperation systems with haptic feedback for its better force-tracking characteristics and superior position-tracking capacity for the maximum stability margin. This control architecture, however, requires force sensors at the end-effector of the slave robot to measure the environment force. However, it is difficult to attach force sensors to slave robots, mainly due to their large size, insulation issues and also large currents often flowing through the end-effector for incision or cautery of tissues.
DOI: 10.1002/rcs.311
PubMed: 20506442
Affiliations:
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pubmed:20506442Le document en format XML
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The two-channel force-position control architecture is widely used in teleoperation systems with haptic feedback for its better force-tracking characteristics and superior position-tracking capacity for the maximum stability margin. This control architecture, however, requires force sensors at the end-effector of the slave robot to measure the environment force. However, it is difficult to attach force sensors to slave robots, mainly due to their large size, insulation issues and also large currents often flowing through the end-effector for incision or cautery of tissues.</div></front></TEI><affiliations><list><country><li>Allemagne</li></country><region><li>Bade-Wurtemberg</li><li>District de Tübingen</li></region><settlement><li>Tübingen</li></settlement></list><tree><noCountry><name sortKey="Bhattacharjee, Tapomayukh" sort="Bhattacharjee, Tapomayukh" uniqKey="Bhattacharjee T" first="Tapomayukh" last="Bhattacharjee">Tapomayukh Bhattacharjee</name><name sortKey="Lee, Doo Yong" sort="Lee, Doo Yong" uniqKey="Lee D" first="Doo Yong" last="Lee">Doo Yong Lee</name></noCountry><country name="Allemagne"><region name="Bade-Wurtemberg"><name sortKey="Son, Hyoung Il" sort="Son, Hyoung Il" uniqKey="Son H" first="Hyoung Il" last="Son">Hyoung Il Son</name></region></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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