HapticV1, Main, Exploration, bibRecord, 001584

Design of a 4-DOF MR haptic master for application to robot surgery: virtual environment work

Identifieur interne : 001584 ( Main/Exploration ); précédent : 001583; suivant : 001585

Design of a 4-DOF MR haptic master for application to robot surgery: virtual environment work

Auteurs : Jong-Seok Oh [Corée du Sud] ; Seung-Hyun Choi [Corée du Sud] ; Seung-Bok Choi [Corée du Sud]

Source :

Smart materials and structures [ 0964-1726 ] ; 2014.

RBID : Pascal:14-0230558

Descripteurs français

Pascal (Inist)
- Robotique, Dimensionnalité, Temps réel, Pistage, Système 4 degré liberté, Performance, Engrenage, Chirurgie, Interface haptique, Fluide magnétorhéologique, Système commande.
Wicri :
- topic : Robotique, Chirurgie.

English descriptors

KwdEn :
- Control systems, Dimensionality, Gears, Haptic interfaces, Magnetorheological fluid, Performance, Real time, Robotics, Surgery, System with four degrees of freedom, Tracking.

Abstract

This paper presents the design and control performance of a novel type of 4-degrees-of-freedom (4-DOF) haptic master in cyberspace for a robot-assisted minimally invasive surgery (RMIS) application. By using a controllable magnetorheological (MR) fluid, the proposed haptic master can have a feedback function for a surgical robot. Due to the difficulty in utilizing real human organs in the experiment, the cyberspace that features the virtual object is constructed to evaluate the performance of the haptic master. In order to realize the cyberspace, a volumetric deformable object is represented by a shape-retaining chain-linked (S-chain) model, which is a fast volumetric model and is suitable for real-time applications. In the haptic architecture for an RMIS application, the desired torque and position induced from the virtual object of the cyberspace and the haptic master of real space are transferred to each other. In order to validate the superiority of the proposed master and volumetric model, a tracking control experiment is implemented with a nonhomogenous volumetric cubic object to demonstrate that the proposed model can be utilized in real-time haptic rendering architecture. A proportional-integral-derivative (PID) controller is then designed and empirically implemented to accomplish the desired torque trajectories. It has been verified from the experiment that tracking the control performance for torque trajectories from a virtual slave can be successfully achieved.

Affiliations:

Corée du Sud

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: 000024
to stream PascalFrancis, to step Curation: 001239
to stream PascalFrancis, to step Checkpoint: 000064
to stream Main, to step Merge: 001590
to stream Main, to step Curation: 001584

Le document en format XML

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<front><div type="abstract" xml:lang="en">This paper presents the design and control performance of a novel type of 4-degrees-of-freedom (4-DOF) haptic master in cyberspace for a robot-assisted minimally invasive surgery (RMIS) application. By using a controllable magnetorheological (MR) fluid, the proposed haptic master can have a feedback function for a surgical robot. Due to the difficulty in utilizing real human organs in the experiment, the cyberspace that features the virtual object is constructed to evaluate the performance of the haptic master. In order to realize the cyberspace, a volumetric deformable object is represented by a shape-retaining chain-linked (S-chain) model, which is a fast volumetric model and is suitable for real-time applications. In the haptic architecture for an RMIS application, the desired torque and position induced from the virtual object of the cyberspace and the haptic master of real space are transferred to each other. In order to validate the superiority of the proposed master and volumetric model, a tracking control experiment is implemented with a nonhomogenous volumetric cubic object to demonstrate that the proposed model can be utilized in real-time haptic rendering architecture. A proportional-integral-derivative (PID) controller is then designed and empirically implemented to accomplish the desired torque trajectories. It has been verified from the experiment that tracking the control performance for torque trajectories from a virtual slave can be successfully achieved.</div>
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Design of a 4-DOF MR haptic master for application to robot surgery: virtual environment work

Design of a 4-DOF MR haptic master for application to robot surgery: virtual environment work

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri