Design of haptic interface through stiffness modulation for endosurgery: theory and experiments
In endosurgery, tissue manipulation is performed by long graspers which have poor force-reflection property, i.e. they do not reflect the grasping force to the hand of the surgeon. In the paper, a novel design of an electromechanical system is considered which can enhance the force-reflecting capabi...
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| creator | Faraz, A. Payandeh, S. Salvarinov, A. |
| description | In endosurgery, tissue manipulation is performed by long graspers which have poor force-reflection property, i.e. they do not reflect the grasping force to the hand of the surgeon. In the paper, a novel design of an electromechanical system is considered which can enhance the force-reflecting capability of endosurgical graspers. The type synthesis of such a haptic interface leads to the application of a tunable spring. The design of the tunable spring is optimized based on the haptic and surgical requirements. Moreover, by using suitable control laws, it is shown that the primary requirements of the design application can be met. Simulation and experimental results are presented using a prototype model of such a haptic interface to demonstrate the practicality of such a design concept. |
| doi_str_mv | 10.1109/ROBOT.1998.677219 |
| format | Conference Proceeding |
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Simulation and experimental results are presented using a prototype model of such a haptic interface to demonstrate the practicality of such a design concept.</description><subject>Computer simulation</subject><subject>Control theory</subject><subject>Couplings</subject><subject>Friction</subject><subject>Grasping</subject><subject>Haptic interfaces</subject><subject>Laparoscopes</subject><subject>Optimization</subject><subject>Robotics</subject><subject>Sensor arrays</subject><subject>Shape measurement</subject><subject>Stiffness</subject><subject>Surgery</subject><subject>Surges</subject><subject>User interfaces</subject><subject>Virtual prototyping</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>078034300X</isbn><isbn>9780780343009</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1998</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotkF1LwzAYhYMf4Db9AXqVK-863zRpk3in8xMGA5mwuxLbN1ukS2rSgvv3FubVgcPDw-EQcs1gzhjou4_V42o9Z1qreSllzvQJmeSFlBkouTklU5AKuOAAmzMyYVBAJmSuL8g0pW8A4LwsJ6R6wuS2ngZLd6brXU2d7zFaUyPtdzEM2x1NvbPWY0p0H5qhNb0LntoQKfompCFuMR7uRxpDPFDjG4q_HUa3R9-nS3JuTZvw6j9n5PPleb14y5ar1_fFwzJzOfA-k9rKL1NqpRupGoEWlClAqdrYgisJSpgvlSsuVK1F0YiaKTb22khhLVMFn5Hbo7eL4WfA1Fd7l2psW-MxDKnKGZdFAfkI3hxBh4hVN8408VAdD-R_gn1kJQ</recordid><startdate>1998</startdate><enddate>1998</enddate><creator>Faraz, A.</creator><creator>Payandeh, S.</creator><creator>Salvarinov, A.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>1998</creationdate><title>Design of haptic interface through stiffness modulation for endosurgery: theory and experiments</title><author>Faraz, A. ; Payandeh, S. ; Salvarinov, A.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i203t-79f7ba6989d78d4ef08a5088caf5387084ab828348c945d4c1813879a74ff1853</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1998</creationdate><topic>Computer simulation</topic><topic>Control theory</topic><topic>Couplings</topic><topic>Friction</topic><topic>Grasping</topic><topic>Haptic interfaces</topic><topic>Laparoscopes</topic><topic>Optimization</topic><topic>Robotics</topic><topic>Sensor arrays</topic><topic>Shape measurement</topic><topic>Stiffness</topic><topic>Surgery</topic><topic>Surges</topic><topic>User interfaces</topic><topic>Virtual prototyping</topic><toplevel>online_resources</toplevel><creatorcontrib>Faraz, A.</creatorcontrib><creatorcontrib>Payandeh, S.</creatorcontrib><creatorcontrib>Salvarinov, A.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Faraz, A.</au><au>Payandeh, S.</au><au>Salvarinov, A.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Design of haptic interface through stiffness modulation for endosurgery: theory and experiments</atitle><btitle>Proceedings - IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>1998</date><risdate>1998</risdate><volume>2</volume><spage>1007</spage><epage>1012 vol.2</epage><pages>1007-1012 vol.2</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>078034300X</isbn><isbn>9780780343009</isbn><abstract>In endosurgery, tissue manipulation is performed by long graspers which have poor force-reflection property, i.e. they do not reflect the grasping force to the hand of the surgeon. In the paper, a novel design of an electromechanical system is considered which can enhance the force-reflecting capability of endosurgical graspers. The type synthesis of such a haptic interface leads to the application of a tunable spring. The design of the tunable spring is optimized based on the haptic and surgical requirements. Moreover, by using suitable control laws, it is shown that the primary requirements of the design application can be met. Simulation and experimental results are presented using a prototype model of such a haptic interface to demonstrate the practicality of such a design concept.</abstract><pub>IEEE</pub><doi>10.1109/ROBOT.1998.677219</doi><tpages>6</tpages></addata></record> |
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| identifier | ISSN: 1050-4729 |
| ispartof | Proceedings - IEEE International Conference on Robotics and Automation, 1998, Vol.2, p.1007-1012 vol.2 |
| issn | 1050-4729 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_677219 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Computer simulation Control theory Couplings Friction Grasping Haptic interfaces Laparoscopes Optimization Robotics Sensor arrays Shape measurement Stiffness Surgery Surges User interfaces Virtual prototyping |
| title | Design of haptic interface through stiffness modulation for endosurgery: theory and experiments |
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