[Haptic tracking control for minimally invasive robotic surgery].
Identifieur interne : 000B55 ( PubMed/Corpus ); précédent : 000B54; suivant : 000B56[Haptic tracking control for minimally invasive robotic surgery].
Auteurs : Zhaohong Xu ; Chengli Song ; Wenwu WuSource :
- Sheng wu yi xue gong cheng xue za zhi = Journal of biomedical engineering = Shengwu yixue gongchengxue zazhi [ 1001-5515 ] ; 2012.
English descriptors
- KwdEn :
- MESH :
- instrumentation : Minimally Invasive Surgical Procedures, Robotics, Surgery, Computer-Assisted.
- Feedback, Humans, Touch Perception.
Abstract
Haptic feedback plays a significant role in minimally invasive robotic surgery (MIRS). A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler method. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on robot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control efficiency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instrument force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.
PubMed: 22826928
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pubmed:22826928Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">[Haptic tracking control for minimally invasive robotic surgery].</title><author><name sortKey="Xu, Zhaohong" sort="Xu, Zhaohong" uniqKey="Xu Z" first="Zhaohong" last="Xu">Zhaohong Xu</name><affiliation><nlm:affiliation>School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China. xuzhdoc@yahoo.com.cn</nlm:affiliation></affiliation></author><author><name sortKey="Song, Chengli" sort="Song, Chengli" uniqKey="Song C" first="Chengli" last="Song">Chengli Song</name></author><author><name sortKey="Wu, Wenwu" sort="Wu, Wenwu" uniqKey="Wu W" first="Wenwu" last="Wu">Wenwu Wu</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2012">2012</date><idno type="RBID">pubmed:22826928</idno><idno type="pmid">22826928</idno><idno type="wicri:Area/PubMed/Corpus">000B55</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">[Haptic tracking control for minimally invasive robotic surgery].</title><author><name sortKey="Xu, Zhaohong" sort="Xu, Zhaohong" uniqKey="Xu Z" first="Zhaohong" last="Xu">Zhaohong Xu</name><affiliation><nlm:affiliation>School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China. xuzhdoc@yahoo.com.cn</nlm:affiliation></affiliation></author><author><name sortKey="Song, Chengli" sort="Song, Chengli" uniqKey="Song C" first="Chengli" last="Song">Chengli Song</name></author><author><name sortKey="Wu, Wenwu" sort="Wu, Wenwu" uniqKey="Wu W" first="Wenwu" last="Wu">Wenwu Wu</name></author></analytic><series><title level="j">Sheng wu yi xue gong cheng xue za zhi = Journal of biomedical engineering = Shengwu yixue gongchengxue zazhi</title><idno type="ISSN">1001-5515</idno><imprint><date when="2012" type="published">2012</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Feedback</term><term>Humans</term><term>Minimally Invasive Surgical Procedures (instrumentation)</term><term>Robotics (instrumentation)</term><term>Surgery, Computer-Assisted (instrumentation)</term><term>Touch Perception</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Minimally Invasive Surgical Procedures</term><term>Robotics</term><term>Surgery, Computer-Assisted</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Feedback</term><term>Humans</term><term>Touch Perception</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Haptic feedback plays a significant role in minimally invasive robotic surgery (MIRS). A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler method. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on robot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control efficiency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instrument force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">22826928</PMID><DateCreated><Year>2012</Year><Month>07</Month><Day>25</Day></DateCreated><DateCompleted><Year>2013</Year><Month>09</Month><Day>12</Day></DateCompleted><DateRevised><Year>2014</Year><Month>11</Month><Day>20</Day></DateRevised><Article PubModel="Print"><Journal><ISSN IssnType="Print">1001-5515</ISSN><JournalIssue CitedMedium="Print"><Volume>29</Volume><Issue>3</Issue><PubDate><Year>2012</Year><Month>Jun</Month></PubDate></JournalIssue><Title>Sheng wu yi xue gong cheng xue za zhi = Journal of biomedical engineering = Shengwu yixue gongchengxue zazhi</Title><ISOAbbreviation>Sheng Wu Yi Xue Gong Cheng Xue Za Zhi</ISOAbbreviation></Journal><ArticleTitle>[Haptic tracking control for minimally invasive robotic surgery].</ArticleTitle><Pagination><MedlinePgn>407-10</MedlinePgn></Pagination><Abstract><AbstractText>Haptic feedback plays a significant role in minimally invasive robotic surgery (MIRS). A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler method. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on robot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control efficiency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instrument force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Xu</LastName><ForeName>Zhaohong</ForeName><Initials>Z</Initials><AffiliationInfo><Affiliation>School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China. xuzhdoc@yahoo.com.cn</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Song</LastName><ForeName>Chengli</ForeName><Initials>C</Initials></Author><Author ValidYN="Y"><LastName>Wu</LastName><ForeName>Wenwu</ForeName><Initials>W</Initials></Author></AuthorList><Language>chi</Language><PublicationTypeList><PublicationType UI="D004740">English Abstract</PublicationType><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>China</Country><MedlineTA>Sheng Wu Yi Xue Gong Cheng Xue Za Zhi</MedlineTA><NlmUniqueID>9426398</NlmUniqueID><ISSNLinking>1001-5515</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D005246">Feedback</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D019060">Minimally Invasive Surgical Procedures</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D025321">Surgery, Computer-Assisted</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D055698">Touch Perception</DescriptorName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2012</Year><Month>7</Month><Day>26</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2012</Year><Month>7</Month><Day>26</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2013</Year><Month>9</Month><Day>13</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="pubmed">22826928</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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