Research of the master–slave robot surgical system with the function of force feedback
Background Surgical robots lack force feedback, which may lead to operation errors. In order to improve surgical outcomes, this research developed a new master–slave surgical robot, which was designed with an integrated force sensor. Methods The new structure designed for the master–slave robot empl...
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| Veröffentlicht in: | The international journal of medical robotics + computer assisted surgery 2017-12, Vol.13 (4), p.n/a |
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| container_title | The international journal of medical robotics + computer assisted surgery |
| container_volume | 13 |
| creator | Shi, Yunyong Zhou, Chaozheng Xie, Le Chen, Yongjun Jiang, Jun Zhang, Zhenfeng Deng, Ze |
| description | Background
Surgical robots lack force feedback, which may lead to operation errors. In order to improve surgical outcomes, this research developed a new master–slave surgical robot, which was designed with an integrated force sensor.
Methods
The new structure designed for the master–slave robot employs a force feedback mechanism. A six‐dimensional force sensor was mounted on the tip of the slave robot's actuator. Sliding model control was adopted to control the slave robot. According to the movement of the master system manipulated by the surgeon, the slave's movement and the force feedback function were validated.
Results
The motion was completed, the standard deviation was calculated, and the force data were detected. Hence, force feedback was realized in the experiment.
Conclusions
The surgical robot can help surgeons to complete trajectory motions with haptic sensation. |
| doi_str_mv | 10.1002/rcs.1826 |
| format | Article |
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Surgical robots lack force feedback, which may lead to operation errors. In order to improve surgical outcomes, this research developed a new master–slave surgical robot, which was designed with an integrated force sensor.
Methods
The new structure designed for the master–slave robot employs a force feedback mechanism. A six‐dimensional force sensor was mounted on the tip of the slave robot's actuator. Sliding model control was adopted to control the slave robot. According to the movement of the master system manipulated by the surgeon, the slave's movement and the force feedback function were validated.
Results
The motion was completed, the standard deviation was calculated, and the force data were detected. Hence, force feedback was realized in the experiment.
Conclusions
The surgical robot can help surgeons to complete trajectory motions with haptic sensation.</description><identifier>ISSN: 1478-5951</identifier><identifier>EISSN: 1478-596X</identifier><identifier>DOI: 10.1002/rcs.1826</identifier><identifier>PMID: 28513095</identifier><language>eng</language><publisher>England: Wiley Subscription Services, Inc</publisher><subject>Feedback ; force feedback ; master and slave ; Movement ; Robots ; sliding model control ; Surgeons ; surgical robot</subject><ispartof>The international journal of medical robotics + computer assisted surgery, 2017-12, Vol.13 (4), p.n/a</ispartof><rights>Copyright © 2017 John Wiley & Sons, Ltd.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c3496-d3ac9dbf38d3bf0902c0e9249c30ba141c0d8db335926c67bb14e4a8e62a64da3</citedby><cites>FETCH-LOGICAL-c3496-d3ac9dbf38d3bf0902c0e9249c30ba141c0d8db335926c67bb14e4a8e62a64da3</cites><orcidid>0000-0001-5536-4379</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1002%2Frcs.1826$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1002%2Frcs.1826$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>314,780,784,1417,27924,27925,45574,45575</link.rule.ids><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/28513095$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Shi, Yunyong</creatorcontrib><creatorcontrib>Zhou, Chaozheng</creatorcontrib><creatorcontrib>Xie, Le</creatorcontrib><creatorcontrib>Chen, Yongjun</creatorcontrib><creatorcontrib>Jiang, Jun</creatorcontrib><creatorcontrib>Zhang, Zhenfeng</creatorcontrib><creatorcontrib>Deng, Ze</creatorcontrib><title>Research of the master–slave robot surgical system with the function of force feedback</title><title>The international journal of medical robotics + computer assisted surgery</title><addtitle>Int J Med Robot</addtitle><description>Background
Surgical robots lack force feedback, which may lead to operation errors. In order to improve surgical outcomes, this research developed a new master–slave surgical robot, which was designed with an integrated force sensor.
Methods
The new structure designed for the master–slave robot employs a force feedback mechanism. A six‐dimensional force sensor was mounted on the tip of the slave robot's actuator. Sliding model control was adopted to control the slave robot. According to the movement of the master system manipulated by the surgeon, the slave's movement and the force feedback function were validated.
Results
The motion was completed, the standard deviation was calculated, and the force data were detected. Hence, force feedback was realized in the experiment.
Conclusions
The surgical robot can help surgeons to complete trajectory motions with haptic sensation.</description><subject>Feedback</subject><subject>force feedback</subject><subject>master and slave</subject><subject>Movement</subject><subject>Robots</subject><subject>sliding model control</subject><subject>Surgeons</subject><subject>surgical robot</subject><issn>1478-5951</issn><issn>1478-596X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2017</creationdate><recordtype>article</recordtype><recordid>eNp1kN1KwzAUx4Mobk7BJ5CCN950Jk2aNpcy_IKBMBV2F5L01HW2y0xax-58B9_QJ7H7cILg1Tmc8zs_Dn-ETgnuE4yjS2d8n6QR30NdwpI0jAUf7-_6mHTQkfdTjFnMODtEnSiNCcUi7qLxCDwoZyaBzYN6AkGlfA3u6-PTl-odAme1rQPfuJfCqDLwy3ZbBYuinqzpvJmZurCz1XVunWknAJlW5vUYHeSq9HCyrT30fHP9NLgLhw-394OrYWgoEzzMqDIi0zlNM6pzLHBkMIiICUOxVoQRg7M005TGIuKGJ1oTBkylwCPFWaZoD11svHNn3xrwtawKb6As1Qxs4yVJhUgE4YK16PkfdGobN2u_k0QkmMeCEvIrNM567yCXc1dUyi0lwXKVtmzTlqu0W_RsK2x0BdkO_Im3BcINsChKWP4rkqPB41r4DRIRibA</recordid><startdate>201712</startdate><enddate>201712</enddate><creator>Shi, Yunyong</creator><creator>Zhou, Chaozheng</creator><creator>Xie, Le</creator><creator>Chen, Yongjun</creator><creator>Jiang, Jun</creator><creator>Zhang, Zhenfeng</creator><creator>Deng, Ze</creator><general>Wiley Subscription Services, Inc</general><scope>NPM</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>JQ2</scope><scope>K9.</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>7X8</scope><orcidid>https://orcid.org/0000-0001-5536-4379</orcidid></search><sort><creationdate>201712</creationdate><title>Research of the master–slave robot surgical system with the function of force feedback</title><author>Shi, Yunyong ; Zhou, Chaozheng ; Xie, Le ; Chen, Yongjun ; Jiang, Jun ; Zhang, Zhenfeng ; Deng, Ze</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c3496-d3ac9dbf38d3bf0902c0e9249c30ba141c0d8db335926c67bb14e4a8e62a64da3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2017</creationdate><topic>Feedback</topic><topic>force feedback</topic><topic>master and slave</topic><topic>Movement</topic><topic>Robots</topic><topic>sliding model control</topic><topic>Surgeons</topic><topic>surgical robot</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Shi, Yunyong</creatorcontrib><creatorcontrib>Zhou, Chaozheng</creatorcontrib><creatorcontrib>Xie, Le</creatorcontrib><creatorcontrib>Chen, Yongjun</creatorcontrib><creatorcontrib>Jiang, Jun</creatorcontrib><creatorcontrib>Zhang, Zhenfeng</creatorcontrib><creatorcontrib>Deng, Ze</creatorcontrib><collection>PubMed</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>ProQuest Health & Medical Complete (Alumni)</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>MEDLINE - Academic</collection><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Shi, Yunyong</au><au>Zhou, Chaozheng</au><au>Xie, Le</au><au>Chen, Yongjun</au><au>Jiang, Jun</au><au>Zhang, Zhenfeng</au><au>Deng, Ze</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Research of the master–slave robot surgical system with the function of force feedback</atitle><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle><addtitle>Int J Med Robot</addtitle><date>2017-12</date><risdate>2017</risdate><volume>13</volume><issue>4</issue><epage>n/a</epage><issn>1478-5951</issn><eissn>1478-596X</eissn><abstract>Background
Surgical robots lack force feedback, which may lead to operation errors. In order to improve surgical outcomes, this research developed a new master–slave surgical robot, which was designed with an integrated force sensor.
Methods
The new structure designed for the master–slave robot employs a force feedback mechanism. A six‐dimensional force sensor was mounted on the tip of the slave robot's actuator. Sliding model control was adopted to control the slave robot. According to the movement of the master system manipulated by the surgeon, the slave's movement and the force feedback function were validated.
Results
The motion was completed, the standard deviation was calculated, and the force data were detected. Hence, force feedback was realized in the experiment.
Conclusions
The surgical robot can help surgeons to complete trajectory motions with haptic sensation.</abstract><cop>England</cop><pub>Wiley Subscription Services, Inc</pub><pmid>28513095</pmid><doi>10.1002/rcs.1826</doi><tpages>11</tpages><orcidid>https://orcid.org/0000-0001-5536-4379</orcidid></addata></record> |
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| language | eng |
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| source | Wiley Journals |
| subjects | Feedback force feedback master and slave Movement Robots sliding model control Surgeons surgical robot |
| title | Research of the master–slave robot surgical system with the function of force feedback |
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