Haptic tracking control for minimally invasive robotic surgery / 生物医学工程学杂志
Journal of Biomedical Engineering
;
(6): 407-410, 2012.
Artículo
en Chino
| WPRIM
| ID: wpr-271764
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.
Texto completo:
Disponible
Índice:
WPRIM (Pacífico Occidental)
Asunto principal:
Robótica
/
Procedimientos Quirúrgicos Mínimamente Invasivos
/
Cirugía Asistida por Computador
/
Percepción del Tacto
/
Retroalimentación
Límite:
Humanos
Idioma:
Chino
Revista:
Journal of Biomedical Engineering
Año:
2012
Tipo del documento:
Artículo
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