Haptic Control for Minimally Invasive Robotic Surgery

被引：2
|
作者：
Xu Zhaohong [1 ]
Song Chengli [1 ]
Yan Shiju [1 ]
机构：
[1] Univ Shanghai Sci & Technol, Sch Med Instrument & Food Engn, Shanghai 200093, Peoples R China
来源：
MATERIALS PROCESSING TECHNOLOGY, PTS 1-4 | 2011年 / 291-294卷
关键词：
Haptic feedback; Minimally invasive surgery; Master-slave robot; Tracking control;
D O I：
10.4028/www.scientific.net/AMR.291-294.1600
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Minimally invasive robotic surgery has been investigated in various surgical application due to high accuracy, fine manipulation capability, tele-operation. Haptic feedback plays a significant role in MIS. In this paper, a dynamics model of a haptic robot is established, and PID algorithm is proposed. To prove the proposed method, an experimental system has been developed. Simulations and experiments show proposed methods is an effective method to master-slave MIRS.
引用
收藏
页码：1600 / 1603
页数：4
相关论文
共 50 条
  • [1] Haptic control design for robotic-assisted minimally invasive surgery
    Cortesao, Rui
    Zarrad, Walid
    Poignet, Philippe
    Company, Olivier
    Dombre, Etienne
    [J]. 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 454 - +
  • [2] Autonomy and haptic feedback in minimally invasive robotic surgery
    Ortmaier, T
    Groeger, M
    Seibold, U
    Hagn, U
    Boehm, D
    Reichenspurner, H
    Hirzinger, G
    [J]. HEART SURGERY FORUM, 2002, 5 : S251 - S260
  • [3] Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery
    Sclvaggio, Mario
    Ghalamzan, Amir M. E.
    Moccia, Rocco
    Ficucicllo, Fanny
    Siciliano, Bruno
    [J]. 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2019, : 3617 - 3623
  • [4] Haptic Tele-Manipulation for Robotic-Assisted Minimally Invasive Surgery with Explicit Posture Control
    Queiros, Pedro
    Cortesao, Rui
    Sousa, Cristovao
    [J]. 18TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION, 2010, : 808 - 814
  • [5] Implementation of a Bilateral Teleoperation Haptic Feedback Controls to Robotic Minimally Invasive Surgery
    Chioson, Francheska B.
    Espiritu, Noelle Marie D.
    Munsayac, Francisco Emmanuel T., Jr.
    Dajay, Ryan Christoper R.
    Santos, Michael Bryan S.
    Baldovino, Renann G.
    Bugtai, Nilo T.
    [J]. 2020 IEEE 12TH INTERNATIONAL CONFERENCE ON HUMANOID, NANOTECHNOLOGY, INFORMATION TECHNOLOGY, COMMUNICATION AND CONTROL, ENVIRONMENT, AND MANAGEMENT (HNICEM), 2020,
  • [6] Robotic system for collaborative control in minimally invasive surgery
    Bernard, C
    Kang, H
    Singh, SK
    Wen, JT
    [J]. INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL, 1999, 26 (06) : 476 - 484
  • [7] Minimally invasive and robotic surgery
    Mack, MJ
    [J]. JAMA-JOURNAL OF THE AMERICAN MEDICAL ASSOCIATION, 2001, 285 (05): : 568 - 572
  • [8] Gaze-Contingent Motor Channelling and Haptic Constraints for Minimally Invasive Robotic Surgery
    Mylonas, George P.
    Kwok, Ka-Wai
    Darzi, Ara
    Yang, Guang-Zhong
    [J]. MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION - MICCAI 2008, PT II, PROCEEDINGS, 2008, 5242 : 676 - 683
  • [9] A comprehensive review of haptic feedback in minimally invasive robotic liver surgery: Advancements and challenges
    Selim, Mostafa
    Dresscher, Douwe
    Abayazid, Momen
    [J]. INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, 2024, 20 (01):
  • [10] Movement Safety Control Method of a Haptic Device for Minimally Invasive Surgery
    Saafi, H.
    Laribi, M. A.
    Zeghloul, S.
    Ibrahim, M. Yousef
    [J]. 2014 IEEE 23RD INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE), 2014, : 1233 - 1238
12345