Design of a force control grasper through stiffness modulation for endosurgery: theory and experiments
Identifieur interne : 001569 ( Istex/Curation ); précédent : 001568; suivant : 001570Design of a force control grasper through stiffness modulation for endosurgery: theory and experiments
Auteurs : Ali Faraz ; Shahram Payandeh ; Andon SalvarinovSource :
- Mechatronics [ 0957-4158 ] ; 1999.
Abstract
In endosurgery, tissue manipulation is performed by long graspers which have a poor force-reflection property, i.e. they do not reflect the grasping force to the hand of the surgeon. In this paper, a novel design of an electro-mechanical system is considered which can enhance the force–reflecting capability of endosurgical graspers. The type of synthesis of such a haptic interface leads to the application of a tunable spring. The design of a tunable spring is optimized based on the haptic and surgical requirements. Moreover, by using suitable control laws, it is shown that the primary requirements of the design application can be met. Simulation and experimental results are presented using a prototype model of such a haptic interface to demonstrate the practicality of such a design concept.
Url:
DOI: 10.1016/S0957-4158(99)00090-2
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Ali Faraz<affiliation><mods:affiliation>Experimental Robotics Laboratory (ERL), School of Engineering Science, Simon Fraser University, 8888 University Drive, Burnaby, British Columbia, Canada, V5A 1S6</mods:affiliation><wicri:noCountry code="subField">V5A 1S6</wicri:noCountry></affiliation><affiliation><mods:affiliation>Experimental Robotics Laboratory (ERL), School of Engineering Science, Simon Fraser University, 8888 University Drive, Burnaby, British Columbia, Canada, V5A 1S6</mods:affiliation><wicri:noCountry code="subField">V5A 1S6</wicri:noCountry></affiliation><affiliation><mods:affiliation>Experimental Robotics Laboratory (ERL), School of Engineering Science, Simon Fraser University, 8888 University Drive, Burnaby, British Columbia, Canada, V5A 1S6</mods:affiliation><wicri:noCountry code="subField">V5A 1S6</wicri:noCountry></affiliation>Le document en format XML
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In this paper, a novel design of an electro-mechanical system is considered which can enhance the force–reflecting capability of endosurgical graspers. The type of synthesis of such a haptic interface leads to the application of a tunable spring. The design of a tunable spring is optimized based on the haptic and surgical requirements. Moreover, by using suitable control laws, it is shown that the primary requirements of the design application can be met. Simulation and experimental results are presented using a prototype model of such a haptic interface to demonstrate the practicality of such a design concept.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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