HapticV1, PascalFrancis, Corpus, bibRecord, 000162

Haptic feedback and control of a flexible surgical endoscopic robot

Identifieur interne : 000162 ( PascalFrancis/Corpus ); précédent : 000161; suivant : 000163

Haptic feedback and control of a flexible surgical endoscopic robot

Auteurs : ZHENG WANG ; ZHENGLONG SUN ; SOO JAY PHEE

Source :

Computer methods and programs in biomedicine : (Print) [ 0169-2607 ] ; 2013.

RBID : Pascal:13-0340996

Descripteurs français

Pascal (Inist)
- Interface utilisateur, Commande boucle fermée, Robotique, Robot, Chirurgie miniinvasive, Dextérité, Mécanique précision, Sensibilité tactile, Chirurgie endoscopique, Rétroaction, Endoscopie, Commande position, Modélisation, Tissu, Validation, Endoscope, Cathéter, Etude expérimentale.

English descriptors

KwdEn :
- Catheter, Closed feedback, Dexterity, Endoscope, Endoscopic surgery, Endoscopy, Experimental study, Feedback regulation, Minimally invasive surgery, Modeling, Position control, Precision engineering, Robot, Robotics, Tactile sensitivity, Tissue, User interface, Validation.

Abstract

A flexible endoscope could reach the potential surgical site via a single small incision on the patient or even through natural orifices, making it a very promising platform for surgical procedures. However, endoscopic surgery has strict spatial constraints on both tool-channel size and surgical site volume. It is therefore very challenging to deploy and control dexterous robotic instruments to conduct surgical procedures endoscopically. Pioneering endoscopic surgical robots have already been introduced, but the performance is limited by the flexible neck of the robot that passes through the endoscope tool channel. In this article we present a series of new developments to improve the performance of the robot: a force transmission model to address flexibility, elongation study for precise position control, and tissue property modeling for haptic feedback. Validation experiment results are presented for each sector. An integrated control architecture of the robot system is given in the end.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A11	`02`	`1`		`@1 ZHENGLONG SUN`
A11	`03`	`1`		`@1 SOO JAY PHEE`
A12	`01`	`1`		`@1 SABATER (Jose M.) @9 ed.`
A12	`02`	`1`		`@1 GARCIA ARACIL (Nicolas) @9 ed.`
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A44				`@0 0000 @1 © 2013 INIST-CNRS. All rights reserved.`
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N21				`@1 322`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

A30	`01`	`1`	`ENG`	`@1 IEEE International Conference on Biomedical Robotics and Biomechatronics @3 Rome ITA @4 2012-06-24`

Format Inist (serveur)

NO :	PASCAL 13-0340996 INIST
ET :	Haptic feedback and control of a flexible surgical endoscopic robot
AU :	ZHENG WANG; ZHENGLONG SUN; SOO JAY PHEE; SABATER (Jose M.); GARCIA ARACIL (Nicolas); ACCOTO (Dino); JOSKOWICZ (Leo)
AF :	Wyss Institute for Biologically Inspired Engineering, Harvard University/Etats-Unis (1 aut.); School of Mechanical and Aerospace Engineering, Nanyang Technological University/Singapour (1 aut., 2 aut., 3 aut.); Nbio Group at the Miguel Hernández University/Espagne (1 aut., 2 aut.)
DT :	Publication en série; Congrès; Niveau analytique
SO :	Computer methods and programs in biomedicine : (Print); ISSN 0169-2607; Royaume-Uni; Da. 2013; Vol. 112; No. 2; Pp. 260-271; Bibl. 35 ref.
LA :	Anglais
EA :	A flexible endoscope could reach the potential surgical site via a single small incision on the patient or even through natural orifices, making it a very promising platform for surgical procedures. However, endoscopic surgery has strict spatial constraints on both tool-channel size and surgical site volume. It is therefore very challenging to deploy and control dexterous robotic instruments to conduct surgical procedures endoscopically. Pioneering endoscopic surgical robots have already been introduced, but the performance is limited by the flexible neck of the robot that passes through the endoscope tool channel. In this article we present a series of new developments to improve the performance of the robot: a force transmission model to address flexibility, elongation study for precise position control, and tissue property modeling for haptic feedback. Validation experiment results are presented for each sector. An integrated control architecture of the robot system is given in the end.
CC :	001D02B04; 002B25; 001D02D11
FD :	Interface utilisateur; Commande boucle fermée; Robotique; Robot; Chirurgie miniinvasive; Dextérité; Mécanique précision; Sensibilité tactile; Chirurgie endoscopique; Rétroaction; Endoscopie; Commande position; Modélisation; Tissu; Validation; Endoscope; Cathéter; Etude expérimentale
ED :	User interface; Closed feedback; Robotics; Robot; Minimally invasive surgery; Dexterity; Precision engineering; Tactile sensitivity; Endoscopic surgery; Feedback regulation; Endoscopy; Position control; Modeling; Tissue; Validation; Endoscope; Catheter; Experimental study
SD :	Interfase usuario; Bucle realimentación cerrada; Robótica; Robot; Cirugía mini invasiva; Destreza; Mecánica precisión; Sensibilidad tactil; Cirugía endoscópica; Retroacción; Endoscopía; Regulación de la posición; Modelización; Tejido; Validación; Endoscopio; Catéter; Estudio experimental
LO :	INIST-14676.354000508224030030
ID :	13-0340996

Links to Exploration step

Pascal:13-0340996

Le document en format XML

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<front><div type="abstract" xml:lang="en">A flexible endoscope could reach the potential surgical site via a single small incision on the patient or even through natural orifices, making it a very promising platform for surgical procedures. However, endoscopic surgery has strict spatial constraints on both tool-channel size and surgical site volume. It is therefore very challenging to deploy and control dexterous robotic instruments to conduct surgical procedures endoscopically. Pioneering endoscopic surgical robots have already been introduced, but the performance is limited by the flexible neck of the robot that passes through the endoscope tool channel. In this article we present a series of new developments to improve the performance of the robot: a force transmission model to address flexibility, elongation study for precise position control, and tissue property modeling for haptic feedback. Validation experiment results are presented for each sector. An integrated control architecture of the robot system is given in the end.</div>
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<fC03 i1="06" i2="X" l="ENG"><s0>Dexterity</s0>
<s5>11</s5>
</fC03>
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<s5>11</s5>
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<s5>12</s5>
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<s5>12</s5>
</fC03>
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<s5>18</s5>
</fC03>
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<s5>18</s5>
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<s5>18</s5>
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<s5>19</s5>
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<fC03 i1="09" i2="X" l="ENG"><s0>Endoscopic surgery</s0>
<s5>19</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Cirugía endoscópica</s0>
<s5>19</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Rétroaction</s0>
<s5>20</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Feedback regulation</s0>
<s5>20</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Retroacción</s0>
<s5>20</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Endoscopie</s0>
<s5>21</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Endoscopy</s0>
<s5>21</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Endoscopía</s0>
<s5>21</s5>
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<fC03 i1="12" i2="X" l="FRE"><s0>Commande position</s0>
<s5>22</s5>
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<s5>22</s5>
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<fC03 i1="12" i2="X" l="SPA"><s0>Regulación de la posición</s0>
<s5>22</s5>
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<fC03 i1="13" i2="X" l="FRE"><s0>Modélisation</s0>
<s5>23</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Modeling</s0>
<s5>23</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Modelización</s0>
<s5>23</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Tissu</s0>
<s5>24</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Tissue</s0>
<s5>24</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Tejido</s0>
<s5>24</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Validation</s0>
<s5>25</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Validation</s0>
<s5>25</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Validación</s0>
<s5>25</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Endoscope</s0>
<s5>33</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Endoscope</s0>
<s5>33</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Endoscopio</s0>
<s5>33</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Cathéter</s0>
<s5>34</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Catheter</s0>
<s5>34</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Catéter</s0>
<s5>34</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Etude expérimentale</s0>
<s5>35</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>Experimental study</s0>
<s5>35</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Estudio experimental</s0>
<s5>35</s5>
</fC03>
<fN21><s1>322</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
<pR><fA30 i1="01" i2="1" l="ENG"><s1>IEEE International Conference on Biomedical Robotics and Biomechatronics</s1>
<s3>Rome ITA</s3>
<s4>2012-06-24</s4>
</fA30>
</pR>
</standard>
<server><NO>PASCAL 13-0340996 INIST</NO>
<ET>Haptic feedback and control of a flexible surgical endoscopic robot</ET>
<AU>ZHENG WANG; ZHENGLONG SUN; SOO JAY PHEE; SABATER (Jose M.); GARCIA ARACIL (Nicolas); ACCOTO (Dino); JOSKOWICZ (Leo)</AU>
<AF>Wyss Institute for Biologically Inspired Engineering, Harvard University/Etats-Unis (1 aut.); School of Mechanical and Aerospace Engineering, Nanyang Technological University/Singapour (1 aut., 2 aut., 3 aut.); Nbio Group at the Miguel Hernández University/Espagne (1 aut., 2 aut.)</AF>
<DT>Publication en série; Congrès; Niveau analytique</DT>
<SO>Computer methods and programs in biomedicine : (Print); ISSN 0169-2607; Royaume-Uni; Da. 2013; Vol. 112; No. 2; Pp. 260-271; Bibl. 35 ref.</SO>
<LA>Anglais</LA>
<EA>A flexible endoscope could reach the potential surgical site via a single small incision on the patient or even through natural orifices, making it a very promising platform for surgical procedures. However, endoscopic surgery has strict spatial constraints on both tool-channel size and surgical site volume. It is therefore very challenging to deploy and control dexterous robotic instruments to conduct surgical procedures endoscopically. Pioneering endoscopic surgical robots have already been introduced, but the performance is limited by the flexible neck of the robot that passes through the endoscope tool channel. In this article we present a series of new developments to improve the performance of the robot: a force transmission model to address flexibility, elongation study for precise position control, and tissue property modeling for haptic feedback. Validation experiment results are presented for each sector. An integrated control architecture of the robot system is given in the end.</EA>
<CC>001D02B04; 002B25; 001D02D11</CC>
<FD>Interface utilisateur; Commande boucle fermée; Robotique; Robot; Chirurgie miniinvasive; Dextérité; Mécanique précision; Sensibilité tactile; Chirurgie endoscopique; Rétroaction; Endoscopie; Commande position; Modélisation; Tissu; Validation; Endoscope; Cathéter; Etude expérimentale</FD>
<ED>User interface; Closed feedback; Robotics; Robot; Minimally invasive surgery; Dexterity; Precision engineering; Tactile sensitivity; Endoscopic surgery; Feedback regulation; Endoscopy; Position control; Modeling; Tissue; Validation; Endoscope; Catheter; Experimental study</ED>
<SD>Interfase usuario; Bucle realimentación cerrada; Robótica; Robot; Cirugía mini invasiva; Destreza; Mecánica precisión; Sensibilidad tactil; Cirugía endoscópica; Retroacción; Endoscopía; Regulación de la posición; Modelización; Tejido; Validación; Endoscopio; Catéter; Estudio experimental</SD>
<LO>INIST-14676.354000508224030030</LO>
<ID>13-0340996</ID>
</server>
</inist>
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Haptic feedback and control of a flexible surgical endoscopic robot

Haptic feedback and control of a flexible surgical endoscopic robot

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