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A sensor-less contact torque estimation and haptic feedback method in minimally invasive surgery
- Source :
- International Journal of Advanced Robotic Systems, Vol 16 (2019)
- Publication Year :
- 2019
- Publisher :
- SAGE Publications, 2019.
-
Abstract
- To satisfy the needs of surgeons for judging the contact state of the catheter robot and modify the operation accordingly, a novel contact torque estimation and haptic feedback method is proposed in this article. Using the vibrotactile feedback, the proposed method reminds the surgeon which bending unit of the robot contacts with human tissue and guides him to realize the disengagement. Based on a novel simplification of the driving force of the robot, a quasi-statics model is established to estimate the contact torque. Simulations are conducted based on Finite Element Method (FEM) to verify the accuracy of the quasi-statics model and the estimation method. A robot system composed of a catheter robot, a PC, a master-operator, and a wearable vibration glove is assembled according to this method. To verify the feasibility of this method, a contact torque estimation experiment and a vibrotactile feedback experiment are conducted in this article. The results show that this method is accurate and effective.
- Subjects :
- 0209 industrial biotechnology
Computer science
lcsh:Electronics
0206 medical engineering
lcsh:TK7800-8360
02 engineering and technology
020601 biomedical engineering
lcsh:QA75.5-76.95
Computer Science Applications
Computer Science::Robotics
020901 industrial engineering & automation
Sensory substitution
Artificial Intelligence
Invasive surgery
Torque
Robot
lcsh:Electronic computers. Computer science
State (computer science)
Software
Simulation
Haptic technology
Subjects
Details
- ISSN :
- 17298814
- Volume :
- 16
- Database :
- OpenAIRE
- Journal :
- International Journal of Advanced Robotic Systems
- Accession number :
- edsair.doi.dedup.....dc762220873e3bdb63facdc06a1c00b9