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Article: Haptic feedback and control of a flexible surgical endoscopic robot

TitleHaptic feedback and control of a flexible surgical endoscopic robot
Authors
KeywordsModeling
Endoscopic surgery
Surgical robotics
Haptic feedback
Issue Date2013
Citation
Computer Methods and Programs in Biomedicine, 2013, v. 112, n. 2, p. 260-271 How to Cite?
AbstractA flexible endoscope could reach the potential surgical site via a single small incision on the patient or even through natural orifices, making it a very promising platform for surgical procedures. However, endoscopic surgery has strict spatial constraints on both tool-channel size and surgical site volume. It is therefore very challenging to deploy and control dexterous robotic instruments to conduct surgical procedures endoscopically. Pioneering endoscopic surgical robots have already been introduced, but the performance is limited by the flexible neck of the robot that passes through the endoscope tool channel. In this article we present a series of new developments to improve the performance of the robot: a force transmission model to address flexibility, elongation study for precise position control, and tissue property modeling for haptic feedback. Validation experiment results are presented for each sector. An integrated control architecture of the robot system is given in the end. © 2013 Elsevier Ireland Ltd.
Persistent Identifierhttp://hdl.handle.net/10722/200143
ISSN
2015 Impact Factor: 1.862
2015 SCImago Journal Rankings: 0.985
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorWang, Zheng-
dc.contributor.authorSun, Zhenglong-
dc.contributor.authorPhee, Soojay-
dc.date.accessioned2014-07-26T23:11:11Z-
dc.date.available2014-07-26T23:11:11Z-
dc.date.issued2013-
dc.identifier.citationComputer Methods and Programs in Biomedicine, 2013, v. 112, n. 2, p. 260-271-
dc.identifier.issn0169-2607-
dc.identifier.urihttp://hdl.handle.net/10722/200143-
dc.description.abstractA flexible endoscope could reach the potential surgical site via a single small incision on the patient or even through natural orifices, making it a very promising platform for surgical procedures. However, endoscopic surgery has strict spatial constraints on both tool-channel size and surgical site volume. It is therefore very challenging to deploy and control dexterous robotic instruments to conduct surgical procedures endoscopically. Pioneering endoscopic surgical robots have already been introduced, but the performance is limited by the flexible neck of the robot that passes through the endoscope tool channel. In this article we present a series of new developments to improve the performance of the robot: a force transmission model to address flexibility, elongation study for precise position control, and tissue property modeling for haptic feedback. Validation experiment results are presented for each sector. An integrated control architecture of the robot system is given in the end. © 2013 Elsevier Ireland Ltd.-
dc.languageeng-
dc.relation.ispartofComputer Methods and Programs in Biomedicine-
dc.subjectModeling-
dc.subjectEndoscopic surgery-
dc.subjectSurgical robotics-
dc.subjectHaptic feedback-
dc.titleHaptic feedback and control of a flexible surgical endoscopic robot-
dc.typeArticle-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1016/j.cmpb.2013.01.018-
dc.identifier.pmid23561289-
dc.identifier.scopuseid_2-s2.0-84884532845-
dc.identifier.volume112-
dc.identifier.issue2-
dc.identifier.spage260-
dc.identifier.epage271-
dc.identifier.eissn1872-7565-
dc.identifier.isiWOS:000324691900004-

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