HapticV1, PascalFrancis, Curation, bibRecord, 000044

Design of a force control grasper through stiffness modulation for endosurgery : theory and experiments

Identifieur interne : 000044 ( PascalFrancis/Curation ); précédent : 000043; suivant : 000045

Design of a force control grasper through stiffness modulation for endosurgery : theory and experiments

Auteurs : A. Faraz [Canada] ; S. Payandeh [Canada] ; A. Salvarinov [Canada]

Source :

Mechatronics : (Oxford) [ 0957-4158 ] ; 2000.

RBID : Pascal:00-0373840

Descripteurs français

Pascal (Inist)
- Téléopération, Commande force, Préhension, Sensibilité tactile, Homme, Chirurgie, Chirurgie endoscopique, Modélisation, Synthèse commande, Etude expérimentale.
Wicri :
- topic : Homme, Chirurgie.

English descriptors

KwdEn :
- Control synthesis, Endoscopic surgery, Experimental study, Force control, Gripping, Human, Modeling, Remote operation, Surgery, Tactile sensitivity.

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.

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A08	`01`	`1`	`ENG`	`@1 Design of a force control grasper through stiffness modulation for endosurgery : theory and experiments`
A11	`01`	`1`		`@1 FARAZ (A.)`
A11	`02`	`1`		`@1 PAYANDEH (S.)`
A11	`03`	`1`		`@1 SALVARINOV (A.)`
A14	`01`			`@1 Experimental Robotics Laboratory (ERL), School of Engineering Science, Simon Fraser University, 8888 University Drive, Burnaby @2 British Columbia, V5A 1S6 @3 CAN @Z 1 aut. @Z 2 aut. @Z 3 aut.`
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A61				`@0 A`
A64	`01`	`1`		`@0 Mechatronics : (Oxford)`
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C01	`01`		`ENG`	@0 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.
C02	`01`	`X`		`@0 001D02D11`
C02	`02`	`X`		`@0 002B25M`
C03	`01`	`X`	`FRE`	`@0 Téléopération @5 02`
C03	`01`	`X`	`ENG`	`@0 Remote operation @5 02`
C03	`01`	`X`	`SPA`	`@0 Teleacción @5 02`
C03	`02`	`X`	`FRE`	`@0 Commande force @5 03`
C03	`02`	`X`	`ENG`	`@0 Force control @5 03`
C03	`02`	`X`	`SPA`	`@0 Control fuerza @5 03`
C03	`03`	`X`	`FRE`	`@0 Préhension @5 04`
C03	`03`	`X`	`ENG`	`@0 Gripping @5 04`
C03	`03`	`X`	`SPA`	`@0 Prension @5 04`
C03	`04`	`X`	`FRE`	`@0 Sensibilité tactile @5 05`
C03	`04`	`X`	`ENG`	`@0 Tactile sensitivity @5 05`
C03	`04`	`X`	`SPA`	`@0 Sensibilidad tactil @5 05`
C03	`05`	`X`	`FRE`	`@0 Homme @5 08`
C03	`05`	`X`	`ENG`	`@0 Human @5 08`
C03	`05`	`X`	`SPA`	`@0 Hombre @5 08`
C03	`06`	`X`	`FRE`	`@0 Chirurgie @5 09`
C03	`06`	`X`	`ENG`	`@0 Surgery @5 09`
C03	`06`	`X`	`SPA`	`@0 Cirugía @5 09`
C03	`07`	`X`	`FRE`	`@0 Chirurgie endoscopique @5 10`
C03	`07`	`X`	`ENG`	`@0 Endoscopic surgery @5 10`
C03	`07`	`X`	`SPA`	`@0 Cirugía endoscópica @5 10`
C03	`08`	`X`	`FRE`	`@0 Modélisation @5 16`
C03	`08`	`X`	`ENG`	`@0 Modeling @5 16`
C03	`08`	`X`	`SPA`	`@0 Modelización @5 16`
C03	`09`	`X`	`FRE`	`@0 Synthèse commande @5 17`
C03	`09`	`X`	`ENG`	`@0 Control synthesis @5 17`
C03	`09`	`X`	`SPA`	`@0 Síntesis control @5 17`
C03	`10`	`X`	`FRE`	`@0 Etude expérimentale @5 19`
C03	`10`	`X`	`ENG`	`@0 Experimental study @5 19`
C03	`10`	`X`	`SPA`	`@0 Estudio experimental @5 19`
N21				`@1 255`

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Le document en format XML

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Design of a force control grasper through stiffness modulation for endosurgery : theory and experiments

Design of a force control grasper through stiffness modulation for endosurgery : theory and experiments

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Descripteurs français

English descriptors

Abstract

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