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Conference Paper: Force feedback without sensor: A preliminary study on haptic modeling

TitleForce feedback without sensor: A preliminary study on haptic modeling
Authors
Issue Date2012
Citation
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 2012, p. 1182-1187 How to Cite?
AbstractHaptic 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 Identifierhttp://hdl.handle.net/10722/200107
ISSN

 

DC FieldValueLanguage
dc.contributor.authorSun, Zhenglong-
dc.contributor.authorWang, Zheng-
dc.contributor.authorPhee, Soojay-
dc.date.accessioned2014-07-26T23:11:08Z-
dc.date.available2014-07-26T23:11:08Z-
dc.date.issued2012-
dc.identifier.citationProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 2012, p. 1182-1187-
dc.identifier.issn2155-1774-
dc.identifier.urihttp://hdl.handle.net/10722/200107-
dc.description.abstractHaptic 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.languageeng-
dc.relation.ispartofProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics-
dc.titleForce feedback without sensor: A preliminary study on haptic modeling-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/BioRob.2012.6290279-
dc.identifier.scopuseid_2-s2.0-84867416711-
dc.identifier.spage1182-
dc.identifier.epage1187-

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