[Haptic tracking control for minimally invasive robotic surgery].
Identifieur interne : 002040 ( Main/Exploration ); précédent : 002039; suivant : 002041[Haptic tracking control for minimally invasive robotic surgery].
Auteurs : Zhaohong Xu [République populaire de Chine] ; 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
Affiliations:
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- to stream Ncbi, to step Curation: 002158
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- to stream Main, to step Merge: 002063
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Le document en format XML
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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><affiliations><list><country><li>République populaire de Chine</li></country></list><tree><noCountry><name sortKey="Song, Chengli" sort="Song, Chengli" uniqKey="Song C" first="Chengli" last="Song">Chengli Song</name><name sortKey="Wu, Wenwu" sort="Wu, Wenwu" uniqKey="Wu W" first="Wenwu" last="Wu">Wenwu Wu</name></noCountry><country name="République populaire de Chine"><noRegion><name sortKey="Xu, Zhaohong" sort="Xu, Zhaohong" uniqKey="Xu Z" first="Zhaohong" last="Xu">Zhaohong Xu</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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