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- Publisher Website: 10.1109/BioRob.2012.6290279
- Scopus: eid_2-s2.0-84867416711
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Conference Paper: Force feedback without sensor: A preliminary study on haptic modeling
Title | Force feedback without sensor: A preliminary study on haptic modeling |
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Authors | |
Issue Date | 2012 |
Citation | Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 2012, p. 1182-1187 How to Cite? |
Abstract | Haptic feedback is an active trend in robotic surgery. However, it is not always feasible to place physical force sensors on the robotic tool-tips due to size or other constraints. Haptic modeling of the organ/tissue could be an alternative approach to provide estimated force information from available data. In this paper, we investigate haptic modeling to provide real-time force estimation in endoscopic surgery. Viscoelastic behavior of the gastrointestinal organ/tissue needs to be taken into consideration. Hence, we proposed a modified haptic model based on commonly-used lumped models, in order to restore the tool-tissue interaction force by using the robot motion. Performance of this approach was evaluated by ex-vivo experiments. The proposed model is capable of approximating the interaction force. Discussions were made on possible limitations and problems in the implementation of such approach. © 2012 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/200107 |
ISSN | 2020 SCImago Journal Rankings: 0.264 |
DC Field | Value | Language |
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dc.contributor.author | Sun, Zhenglong | - |
dc.contributor.author | Wang, Zheng | - |
dc.contributor.author | Phee, Soojay | - |
dc.date.accessioned | 2014-07-26T23:11:08Z | - |
dc.date.available | 2014-07-26T23:11:08Z | - |
dc.date.issued | 2012 | - |
dc.identifier.citation | Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 2012, p. 1182-1187 | - |
dc.identifier.issn | 2155-1774 | - |
dc.identifier.uri | http://hdl.handle.net/10722/200107 | - |
dc.description.abstract | Haptic feedback is an active trend in robotic surgery. However, it is not always feasible to place physical force sensors on the robotic tool-tips due to size or other constraints. Haptic modeling of the organ/tissue could be an alternative approach to provide estimated force information from available data. In this paper, we investigate haptic modeling to provide real-time force estimation in endoscopic surgery. Viscoelastic behavior of the gastrointestinal organ/tissue needs to be taken into consideration. Hence, we proposed a modified haptic model based on commonly-used lumped models, in order to restore the tool-tissue interaction force by using the robot motion. Performance of this approach was evaluated by ex-vivo experiments. The proposed model is capable of approximating the interaction force. Discussions were made on possible limitations and problems in the implementation of such approach. © 2012 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics | - |
dc.title | Force feedback without sensor: A preliminary study on haptic modeling | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/BioRob.2012.6290279 | - |
dc.identifier.scopus | eid_2-s2.0-84867416711 | - |
dc.identifier.spage | 1182 | - |
dc.identifier.epage | 1187 | - |
dc.identifier.issnl | 2155-1774 | - |