TY - GEN
T1 - Towards haptics enabled surgical robotic system for NOTES
AU - Sun, Zhenglong
AU - Wang, Zheng
AU - Phee, Soo Jay
PY - 2011
Y1 - 2011
N2 - Haptics feedback is a potential enhancement for surgeon's performance in robotic surgery. In this paper, we attempted to tackle the challenges in this application from three aspects: haptic information acquisition, design of a haptics enabled master console and system control. Taking the MASTER (Master And Slave Transluminal Endoscopic Robot) system as an example, we shared our solutions and concerns in designing a haptic enabled robotic system specifically for NOTES. By analyzing the driving mechanism of the system, a method was proposed to estimate the forces at the distal end (end-effectors) by measuring the forces at the proximal end (actuator housing). To implement this method, a force transmission model was developed for tendon-sheath actuation with unknown arbitrary configurations. With the presence of haptic feedback, it appears that the position control of the system also could be improved. It is hoped that this robotic system enhanced with haptic feedback could help to pave the way to the introduction of clinical NOTES.
AB - Haptics feedback is a potential enhancement for surgeon's performance in robotic surgery. In this paper, we attempted to tackle the challenges in this application from three aspects: haptic information acquisition, design of a haptics enabled master console and system control. Taking the MASTER (Master And Slave Transluminal Endoscopic Robot) system as an example, we shared our solutions and concerns in designing a haptic enabled robotic system specifically for NOTES. By analyzing the driving mechanism of the system, a method was proposed to estimate the forces at the distal end (end-effectors) by measuring the forces at the proximal end (actuator housing). To implement this method, a force transmission model was developed for tendon-sheath actuation with unknown arbitrary configurations. With the presence of haptic feedback, it appears that the position control of the system also could be improved. It is hoped that this robotic system enhanced with haptic feedback could help to pave the way to the introduction of clinical NOTES.
KW - haptic feedback
KW - NOTES
KW - surgical robotic system
KW - tendon sheath
UR - http://www.scopus.com/inward/record.url?scp=82955228023&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=82955228023&partnerID=8YFLogxK
U2 - 10.1109/RAMECH.2011.6070487
DO - 10.1109/RAMECH.2011.6070487
M3 - Conference contribution
AN - SCOPUS:82955228023
SN - 9781612842509
T3 - IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings
SP - 229
EP - 233
BT - Proceedings of the 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011
T2 - 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011
Y2 - 17 September 2011 through 19 September 2011
ER -