System characterization of a novel haptic interface for natural orifice translumenal endoscopic surgery simulation.
Identifieur interne : 000E03 ( Main/Merge ); précédent : 000E02; suivant : 000E04System characterization of a novel haptic interface for natural orifice translumenal endoscopic surgery simulation.
Auteurs : Saurabh Dargar ; Ganesh Sankaranarayanan ; Suvranu DeSource :
- 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 ] ; 2014.
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Abstract
Natural orifice translumenal endoscopic surgery (NOTES) is a minimally invasive procedure, which utilizes the body's natural orifices to gain access to the peritoneal cavity. The VTEST(©) is a virtual reality NOTES simulator developed at the CeMSIM at RPI to train surgeons in NOTES. A novel 2 DOF decoupled haptic device was designed and built for this simulator. The haptic device can render 5.62 N and 190.05 N-mm of continuous force and torque respectively. In this work we have evaluated the haptic interface and developed a model to accurately describe the system behavior, to further incorporate into an impedance type controller for realistic haptic rendering in the VTEST(©).
DOI: 10.1109/EMBC.2014.6943607
PubMed: 25569975
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