TY - GEN
T1 - Force feedback without sensor
T2 - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
AU - Sun, Zhenglong
AU - Wang, Zheng
AU - Phee, Soo Jay
PY - 2012
Y1 - 2012
N2 - Haptic 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.
AB - Haptic 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.
UR - http://www.scopus.com/inward/record.url?scp=84867416711&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84867416711&partnerID=8YFLogxK
U2 - 10.1109/BioRob.2012.6290279
DO - 10.1109/BioRob.2012.6290279
M3 - Conference contribution
AN - SCOPUS:84867416711
SN - 9781457711992
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 1182
EP - 1187
BT - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Y2 - 24 June 2012 through 27 June 2012
ER -