System characterization of a novel haptic interface for natural orifice translumenal endoscopic surgery simulation.
Identifieur interne : 003596 ( Ncbi/Curation ); précédent : 003595; suivant : 003597System 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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pubmed:25569975Le document en format XML
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<author><name sortKey="Sankaranarayanan, Ganesh" sort="Sankaranarayanan, Ganesh" uniqKey="Sankaranarayanan G" first="Ganesh" last="Sankaranarayanan">Ganesh Sankaranarayanan</name>
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<front><div type="abstract" xml:lang="en">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(©).</div>
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