An implementation of sensor-based force feedback in a compact laparoscopic surgery robot.
Identifieur interne : 001356 ( PubMed/Corpus ); précédent : 001355; suivant : 001357An implementation of sensor-based force feedback in a compact laparoscopic surgery robot.
Auteurs : Duk-Hee Lee ; Jaesoon Choi ; Jun-Woo Park ; Du-Jin Bach ; Seung-Jun Song ; Yoon-Ho Kim ; Yungho Jo ; Kyung SunSource :
- ASAIO journal (American Society for Artificial Internal Organs : 1992) [ 1538-943X ]
English descriptors
- KwdEn :
- MESH :
- instrumentation : Equipment Design, Robotics, Surgery, Computer-Assisted.
- Laparoscopes, Laparoscopy.
Abstract
Despite the rapid progress in the clinical application of laparoscopic surgery robots, many shortcomings have not yet been fully overcome, one of which is the lack of reliable haptic feedback. This study implemented a force-feedback structure in our compact laparoscopic surgery robot. The surgery robot is a master-slave configuration robot with 5 DOF (degree of freedom corresponding laparoscopic surgical motion. The force-feedback implementation was made in the robot with torque sensors and controllers installed in the pitch joint of the master and slave robots. A simple dynamic model of action-reaction force in the slave robot was used, through which the reflective force was estimated and fed back to the master robot. The results showed the system model could be identified with significant fidelity and the force feedback at the master robot was feasible. However, the qualitative human assessment of the fed-back force showed only limited level of object discrimination ability. Further developments are underway with this result as a framework.
DOI: 10.1097/MAT.0b013e31819018e7
PubMed: 19092664
Links to Exploration step
pubmed:19092664Le document en format XML
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This study implemented a force-feedback structure in our compact laparoscopic surgery robot. The surgery robot is a master-slave configuration robot with 5 DOF (degree of freedom corresponding laparoscopic surgical motion. The force-feedback implementation was made in the robot with torque sensors and controllers installed in the pitch joint of the master and slave robots. A simple dynamic model of action-reaction force in the slave robot was used, through which the reflective force was estimated and fed back to the master robot. The results showed the system model could be identified with significant fidelity and the force feedback at the master robot was feasible. However, the qualitative human assessment of the fed-back force showed only limited level of object discrimination ability. Further developments are underway with this result as a framework.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">19092664</PMID><DateCreated><Year>2009</Year><Month>01</Month><Day>13</Day></DateCreated><DateCompleted><Year>2009</Year><Month>03</Month><Day>19</Day></DateCompleted><Article PubModel="Print"><Journal><ISSN IssnType="Electronic">1538-943X</ISSN><JournalIssue CitedMedium="Internet"><Volume>55</Volume><Issue>1</Issue><PubDate><MedlineDate>2009 Jan-Feb</MedlineDate></PubDate></JournalIssue><Title>ASAIO journal (American Society for Artificial Internal Organs : 1992)</Title><ISOAbbreviation>ASAIO J.</ISOAbbreviation></Journal><ArticleTitle>An implementation of sensor-based force feedback in a compact laparoscopic surgery robot.</ArticleTitle><Pagination><MedlinePgn>83-5</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1097/MAT.0b013e31819018e7</ELocationID><Abstract><AbstractText>Despite the rapid progress in the clinical application of laparoscopic surgery robots, many shortcomings have not yet been fully overcome, one of which is the lack of reliable haptic feedback. This study implemented a force-feedback structure in our compact laparoscopic surgery robot. The surgery robot is a master-slave configuration robot with 5 DOF (degree of freedom corresponding laparoscopic surgical motion. The force-feedback implementation was made in the robot with torque sensors and controllers installed in the pitch joint of the master and slave robots. A simple dynamic model of action-reaction force in the slave robot was used, through which the reflective force was estimated and fed back to the master robot. The results showed the system model could be identified with significant fidelity and the force feedback at the master robot was feasible. However, the qualitative human assessment of the fed-back force showed only limited level of object discrimination ability. Further developments are underway with this result as a framework.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Lee</LastName><ForeName>Duk-Hee</ForeName><Initials>DH</Initials><AffiliationInfo><Affiliation>Biomedical Engineering Branch, Research Institute, National Cancer Center, Gyeonggi, Korea.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Choi</LastName><ForeName>Jaesoon</ForeName><Initials>J</Initials></Author><Author ValidYN="Y"><LastName>Park</LastName><ForeName>Jun-Woo</ForeName><Initials>JW</Initials></Author><Author ValidYN="Y"><LastName>Bach</LastName><ForeName>Du-Jin</ForeName><Initials>DJ</Initials></Author><Author ValidYN="Y"><LastName>Song</LastName><ForeName>Seung-Jun</ForeName><Initials>SJ</Initials></Author><Author ValidYN="Y"><LastName>Kim</LastName><ForeName>Yoon-Ho</ForeName><Initials>YH</Initials></Author><Author ValidYN="Y"><LastName>Jo</LastName><ForeName>Yungho</ForeName><Initials>Y</Initials></Author><Author ValidYN="Y"><LastName>Sun</LastName><ForeName>Kyung</ForeName><Initials>K</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>United States</Country><MedlineTA>ASAIO J</MedlineTA><NlmUniqueID>9204109</NlmUniqueID><ISSNLinking>1058-2916</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D004867">Equipment Design</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D020706">Laparoscopes</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D010535">Laparoscopy</DescriptorName></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="N" UI="Q000295">instrumentation</QualifierName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2008</Year><Month>12</Month><Day>19</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2008</Year><Month>12</Month><Day>19</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2009</Year><Month>3</Month><Day>20</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1097/MAT.0b013e31819018e7</ArticleId><ArticleId IdType="pubmed">19092664</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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