Design of a force control grasper through stiffness modulation for endosurgery: theory and experiments
Identifieur interne : 007C05 ( Main/Exploration ); précédent : 007C04; suivant : 007C06Design of a force control grasper through stiffness modulation for endosurgery: theory and experiments
Auteurs : Ali Faraz ; Shahram Payandeh ; Andon SalvarinovSource :
- Mechatronics [ 0957-4158 ] ; 1999.
Descripteurs français
- Pascal (Inist)
- Wicri :
English descriptors
- KwdEn :
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
Affiliations:
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Le document en format XML
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<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Control synthesis</term>
<term>Endoscopic surgery</term>
<term>Experimental study</term>
<term>Force control</term>
<term>Gripping</term>
<term>Human</term>
<term>Modeling</term>
<term>Remote operation</term>
<term>Surgery</term>
<term>Tactile sensitivity</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Chirurgie</term>
<term>Chirurgie endoscopique</term>
<term>Commande force</term>
<term>Etude expérimentale</term>
<term>Homme</term>
<term>Modélisation</term>
<term>Préhension</term>
<term>Sensibilité tactile</term>
<term>Synthèse commande</term>
<term>Téléopération</term>
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<front><div type="abstract" xml:lang="en">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.</div>
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<name sortKey="Salvarinov, Andon" sort="Salvarinov, Andon" uniqKey="Salvarinov A" first="Andon" last="Salvarinov">Andon Salvarinov</name>
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