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Conference Paper: An ungrounded hand-held surgical device incorporating active constraints with force-feedback

TitleAn ungrounded hand-held surgical device incorporating active constraints with force-feedback
Authors
Issue Date2013
Citation
IEEE International Conference on Intelligent Robots and Systems, 2013, p. 2559-2565 How to Cite?
AbstractThis paper presents an ungrounded, hand-held surgical device that incorporates active constraints and forcefeedback. Optical tracking of the device and embedded actuation allow for real-time motion compensation of a surgical tool as an active constraint is encountered. The active constraints can be made soft, so that the surgical tool tip motion is scaled, or rigid, so as to altogether prevent the penetration of the active constraint. Force-feedback is also provided to the operator so as to indicate penetration of the active constraint boundary by the surgical tool. The device has been evaluated in detailed bench tests to quantify its motion scaling and force-feedback capabilities. The combined effects of force-feedback and motion compensation are demonstrated during palpation of an active constraint with rigid and soft boundaries. A user study evaluated the combined effect of motion compensation and force-feedback in preventing penetration of a rigid active constraint. The results have shown the potential of the device operating in an ungrounded setup that incorporates active constraints with force-feedback. © 2013 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/199939
ISSN

 

DC FieldValueLanguage
dc.contributor.authorPayne, Christopher J.-
dc.contributor.authorKwok, Kawai-
dc.contributor.authorYang, Guangzhong-
dc.date.accessioned2014-07-26T23:10:56Z-
dc.date.available2014-07-26T23:10:56Z-
dc.date.issued2013-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 2013, p. 2559-2565-
dc.identifier.issn2153-0858-
dc.identifier.urihttp://hdl.handle.net/10722/199939-
dc.description.abstractThis paper presents an ungrounded, hand-held surgical device that incorporates active constraints and forcefeedback. Optical tracking of the device and embedded actuation allow for real-time motion compensation of a surgical tool as an active constraint is encountered. The active constraints can be made soft, so that the surgical tool tip motion is scaled, or rigid, so as to altogether prevent the penetration of the active constraint. Force-feedback is also provided to the operator so as to indicate penetration of the active constraint boundary by the surgical tool. The device has been evaluated in detailed bench tests to quantify its motion scaling and force-feedback capabilities. The combined effects of force-feedback and motion compensation are demonstrated during palpation of an active constraint with rigid and soft boundaries. A user study evaluated the combined effect of motion compensation and force-feedback in preventing penetration of a rigid active constraint. The results have shown the potential of the device operating in an ungrounded setup that incorporates active constraints with force-feedback. © 2013 IEEE.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleAn ungrounded hand-held surgical device incorporating active constraints with force-feedback-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IROS.2013.6696717-
dc.identifier.scopuseid_2-s2.0-84893810095-
dc.identifier.spage2559-
dc.identifier.epage2565-
dc.identifier.eissn2153-0866-

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