Design and implementation of series elastic actuators for a haptic laparoscopic device.
Identifieur interne : 001350 ( Ncbi/Merge ); précédent : 001349; suivant : 001351Design and implementation of series elastic actuators for a haptic laparoscopic device.
Auteurs : E. Basafa [États-Unis] ; M. Sheikholeslami ; A. Mirbagheri ; F. Farahmand ; G R VossoughiSource :
- Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference [ 1557-170X ] ; 2009.
Descripteurs français
- Wicri :
- geographic : États-Unis.
English descriptors
- KwdEn :
- Biofeedback, Psychology (instrumentation), Computer Simulation, Computer-Aided Design, Computer-Assisted Instruction (instrumentation), Computer-Assisted Instruction (methods), Elastic Modulus, Endoscopy (education), Equipment Design, Equipment Failure Analysis, Feedback, Physiological, Humans, Laparoscopes, Models, Biological, Physical Stimulation (instrumentation), Surgery, Computer-Assisted (education), Surgery, Computer-Assisted (instrumentation), Surgery, Computer-Assisted (methods), Touch, United States, User-Computer Interface.
- MESH :
- geographic : United States.
- education : Endoscopy, Surgery, Computer-Assisted.
- instrumentation : Biofeedback, Psychology, Computer-Assisted Instruction, Physical Stimulation, Surgery, Computer-Assisted.
- methods : Computer-Assisted Instruction, Surgery, Computer-Assisted.
- Computer Simulation, Computer-Aided Design, Elastic Modulus, Equipment Design, Equipment Failure Analysis, Feedback, Physiological, Humans, Laparoscopes, Models, Biological, Touch, User-Computer Interface.
Abstract
The design of a laparoscopic haptic device based on a 4-DOFs mechanism and Series Elastic Actuators (SEA) is described and the results of the theoretical and experimental examinations are presented. With a sufficient bandwidth and low impedance, the system provided a stable interaction with soft tissues, e.g., human liver, in virtual environments.
DOI: 10.1109/IEMBS.2009.5332616
PubMed: 19963665
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pubmed:19963665Le document en format XML
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<front><div type="abstract" xml:lang="en">The design of a laparoscopic haptic device based on a 4-DOFs mechanism and Series Elastic Actuators (SEA) is described and the results of the theoretical and experimental examinations are presented. With a sufficient bandwidth and low impedance, the system provided a stable interaction with soft tissues, e.g., human liver, in virtual environments.</div>
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