Design of a haptic device with grasp and push-pull force feedback for a master-slave surgical robot.
Identifieur interne : 003E25 ( Ncbi/Merge ); précédent : 003E24; suivant : 003E26Design of a haptic device with grasp and push-pull force feedback for a master-slave surgical robot.
Auteurs : Zhenkai Hu ; Chae-Hyun Yoon ; Samuel Byeongjun Park ; Yung-Ho Jo [Corée du Sud]Source :
- International journal of computer assisted radiology and surgery [ 1861-6429 ] ; 2015.
Abstract
We propose a portable haptic device providing grasp (kinesthetic) and push-pull (cutaneous) sensations for optical-motion-capture master interfaces.
DOI: 10.1007/s11548-015-1324-9
PubMed: 26646414
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Design of a haptic device with grasp and push-pull force feedback for a master-slave surgical robot.</title><author><name sortKey="Hu, Zhenkai" sort="Hu, Zhenkai" uniqKey="Hu Z" first="Zhenkai" last="Hu">Zhenkai Hu</name><affiliation><nlm:affiliation>Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea.</nlm:affiliation><wicri:noCountry code="subField">Replublic of Korea</wicri:noCountry></affiliation></author><author><name sortKey="Yoon, Chae Hyun" sort="Yoon, Chae Hyun" uniqKey="Yoon C" first="Chae-Hyun" last="Yoon">Chae-Hyun Yoon</name><affiliation><nlm:affiliation>Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea.</nlm:affiliation><wicri:noCountry code="subField">Replublic of Korea</wicri:noCountry></affiliation></author><author><name sortKey="Park, Samuel Byeongjun" sort="Park, Samuel Byeongjun" uniqKey="Park S" first="Samuel Byeongjun" last="Park">Samuel Byeongjun Park</name><affiliation><nlm:affiliation>Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea.</nlm:affiliation><wicri:noCountry code="subField">Replublic of Korea</wicri:noCountry></affiliation></author><author><name sortKey="Jo, Yung Ho" sort="Jo, Yung Ho" uniqKey="Jo Y" first="Yung-Ho" last="Jo">Yung-Ho Jo</name><affiliation wicri:level="1"><nlm:affiliation>Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea. joyh@ncc.re.kr.</nlm:affiliation><country wicri:rule="url">Corée du Sud</country></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2015">2015</date><idno type="doi">10.1007/s11548-015-1324-9</idno><idno type="RBID">pubmed:26646414</idno><idno type="pmid">26646414</idno><idno type="wicri:Area/PubMed/Corpus">000173</idno><idno type="wicri:Area/PubMed/Curation">000173</idno><idno type="wicri:Area/PubMed/Checkpoint">000396</idno><idno type="wicri:Area/Ncbi/Merge">003E25</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Design of a haptic device with grasp and push-pull force feedback for a master-slave surgical robot.</title><author><name sortKey="Hu, Zhenkai" sort="Hu, Zhenkai" uniqKey="Hu Z" first="Zhenkai" last="Hu">Zhenkai Hu</name><affiliation><nlm:affiliation>Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea.</nlm:affiliation><wicri:noCountry code="subField">Replublic of Korea</wicri:noCountry></affiliation></author><author><name sortKey="Yoon, Chae Hyun" sort="Yoon, Chae Hyun" uniqKey="Yoon C" first="Chae-Hyun" last="Yoon">Chae-Hyun Yoon</name><affiliation><nlm:affiliation>Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea.</nlm:affiliation><wicri:noCountry code="subField">Replublic of Korea</wicri:noCountry></affiliation></author><author><name sortKey="Park, Samuel Byeongjun" sort="Park, Samuel Byeongjun" uniqKey="Park S" first="Samuel Byeongjun" last="Park">Samuel Byeongjun Park</name><affiliation><nlm:affiliation>Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea.</nlm:affiliation><wicri:noCountry code="subField">Replublic of Korea</wicri:noCountry></affiliation></author><author><name sortKey="Jo, Yung Ho" sort="Jo, Yung Ho" uniqKey="Jo Y" first="Yung-Ho" last="Jo">Yung-Ho Jo</name><affiliation wicri:level="1"><nlm:affiliation>Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea. joyh@ncc.re.kr.</nlm:affiliation><country wicri:rule="url">Corée du Sud</country></affiliation></author></analytic><series><title level="j">International journal of computer assisted radiology and surgery</title><idno type="eISSN">1861-6429</idno><imprint><date when="2015" type="published">2015</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">We propose a portable haptic device providing grasp (kinesthetic) and push-pull (cutaneous) sensations for optical-motion-capture master interfaces.</div></front></TEI><pubmed><MedlineCitation Status="Publisher" Owner="NLM"><PMID Version="1">26646414</PMID><DateCreated><Year>2015</Year><Month>12</Month><Day>9</Day></DateCreated><DateRevised><Year>2015</Year><Month>12</Month><Day>10</Day></DateRevised><Article PubModel="Print-Electronic"><Journal><ISSN IssnType="Electronic">1861-6429</ISSN><JournalIssue CitedMedium="Internet"><PubDate><Year>2015</Year><Month>Dec</Month><Day>8</Day></PubDate></JournalIssue><Title>International journal of computer assisted radiology and surgery</Title><ISOAbbreviation>Int J Comput Assist Radiol Surg</ISOAbbreviation></Journal><ArticleTitle>Design of a haptic device with grasp and push-pull force feedback for a master-slave surgical robot.</ArticleTitle><Pagination><MedlinePgn></MedlinePgn></Pagination><Abstract><AbstractText Label="PURPOSE" NlmCategory="OBJECTIVE">We propose a portable haptic device providing grasp (kinesthetic) and push-pull (cutaneous) sensations for optical-motion-capture master interfaces.</AbstractText><AbstractText Label="METHODS" NlmCategory="METHODS">Although optical-motion-capture master interfaces for surgical robot systems can overcome the stiffness, friction, and coupling problems of mechanical master interfaces, it is difficult to add haptic feedback to an optical-motion-capture master interface without constraining the free motion of the operator's hands. Therefore, we utilized a Bowden cable-driven mechanism to provide the grasp and push-pull sensation while retaining the free hand motion of the optical-motion capture master interface. To evaluate the haptic device, we construct a 2-DOF force sensing/force feedback system. We compare the sensed force and the reproduced force of the haptic device. Finally, a needle insertion test was done to evaluate the performance of the haptic interface in the master-slave system.</AbstractText><AbstractText Label="RESULTS" NlmCategory="RESULTS">The results demonstrate that both the grasp force feedback and the push-pull force feedback provided by the haptic interface closely matched with the sensed forces of the slave robot. We successfully apply our haptic interface in the optical-motion-capture master-slave system. The results of the needle insertion test showed that our haptic feedback can provide more safety than merely visual observation.</AbstractText><AbstractText Label="CONCLUSIONS" NlmCategory="CONCLUSIONS">We develop a suitable haptic device to produce both kinesthetic grasp force feedback and cutaneous push-pull force feedback. Our future research will include further objective performance evaluations of the optical-motion-capture master-slave robot system with our haptic interface in surgical scenarios.</AbstractText></Abstract><AuthorList><Author><LastName>Hu</LastName><ForeName>Zhenkai</ForeName><Initials>Z</Initials><AffiliationInfo><Affiliation>Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea.</Affiliation></AffiliationInfo></Author><Author><LastName>Yoon</LastName><ForeName>Chae-Hyun</ForeName><Initials>CH</Initials><AffiliationInfo><Affiliation>Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea.</Affiliation></AffiliationInfo></Author><Author><LastName>Park</LastName><ForeName>Samuel Byeongjun</ForeName><Initials>SB</Initials><AffiliationInfo><Affiliation>Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea.</Affiliation></AffiliationInfo></Author><Author><LastName>Jo</LastName><ForeName>Yung-Ho</ForeName><Initials>YH</Initials><AffiliationInfo><Affiliation>Department of Biomedical Engineering, National Cancer Center, 323, Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, Replublic of Korea. joyh@ncc.re.kr.</Affiliation></AffiliationInfo></Author></AuthorList><Language>ENG</Language><PublicationTypeList><PublicationType UI="">JOURNAL ARTICLE</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2015</Year><Month>12</Month><Day>8</Day></ArticleDate></Article><MedlineJournalInfo><MedlineTA>Int J Comput Assist Radiol Surg</MedlineTA><NlmUniqueID>101499225</NlmUniqueID><ISSNLinking>1861-6410</ISSNLinking></MedlineJournalInfo><KeywordList Owner="NOTNLM"><Keyword MajorTopicYN="N">Cutaneous force feedback</Keyword><Keyword MajorTopicYN="N">Haptic interface</Keyword><Keyword MajorTopicYN="N">Kinesthetic force feedback</Keyword><Keyword MajorTopicYN="N">Master–slave surgical robot</Keyword><Keyword MajorTopicYN="N">Optical-motion-capture master</Keyword></KeywordList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="received"><Year>2015</Year><Month>6</Month><Day>10</Day></PubMedPubDate><PubMedPubDate PubStatus="accepted"><Year>2015</Year><Month>11</Month><Day>6</Day></PubMedPubDate><PubMedPubDate PubStatus="aheadofprint"><Year>2015</Year><Month>12</Month><Day>8</Day></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2015</Year><Month>12</Month><Day>10</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2015</Year><Month>12</Month><Day>10</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2015</Year><Month>12</Month><Day>10</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>aheadofprint</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1007/s11548-015-1324-9</ArticleId><ArticleId IdType="pii">10.1007/s11548-015-1324-9</ArticleId><ArticleId IdType="pubmed">26646414</ArticleId></ArticleIdList></PubmedData></pubmed><affiliations><list><country><li>Corée du Sud</li></country></list><tree><noCountry><name sortKey="Hu, Zhenkai" sort="Hu, Zhenkai" uniqKey="Hu Z" first="Zhenkai" last="Hu">Zhenkai Hu</name><name sortKey="Park, Samuel Byeongjun" sort="Park, Samuel Byeongjun" uniqKey="Park S" first="Samuel Byeongjun" last="Park">Samuel Byeongjun Park</name><name sortKey="Yoon, Chae Hyun" sort="Yoon, Chae Hyun" uniqKey="Yoon C" first="Chae-Hyun" last="Yoon">Chae-Hyun Yoon</name></noCountry><country name="Corée du Sud"><noRegion><name sortKey="Jo, Yung Ho" sort="Jo, Yung Ho" uniqKey="Jo Y" first="Yung-Ho" last="Jo">Yung-Ho Jo</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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