Surgical Simulation Robot with Haptics and Friction Compensation

Surgical Simulation Robot with Haptics and Friction Compensation
Title:
Surgical Simulation Robot with Haptics and Friction Compensation
Other Titles:
Computer-Assisted and Robotic Endoscopy: Second International Workshop, CARE 2015
Keywords:
Publication Date:
05 October 2015
Citation:
T. Yang, W. Huang, K. K. Toe, J. Zhou, Y. Duan, Y. Chi, and L. E. Loh, "Surgical Simulation Robot with Haptics and Friction Compensation," in Computer-Assisted and Robotic Endoscopy: Second International Workshop, CARE 2015, Held in Conjunction with MICCAI 2015, Munich, Germany, October 5, 2015, Revised Selected Papers, X. Luo, T. Reichl, A. Reiter, and G.-L. Mariottini, Eds. Cham: Springer International Publishing, pp. 69-80.
Abstract:
Haptic feedback brings a surgical simulator closer to real surgery. However, friction in surgical simulator’s hardware affects its performance significantly. We introduced a surgical simulation robot with roller mechanism for laparoscopic surgical simulation. Roller mechanism was implemented in a constrained space to reduce the friction from the design stage. Motion based friction cancellation method was also applied to mitigate the friction effects. Comparing with the same surgical simulation robot without roller mechanism, the one with roller mechanism reduced friction by 32.86% and 38.87% on two motion directions, and the motion based friction cancellation method mitigated friction effect by 49.46% and 62.08% on the two motion directions.
License type:
PublisherCopyrights
Funding Info:
This work is supported by Agency for Science, Technology and Research, Singapore.
Description:
ISSN:
0302-9743
Files uploaded:

File Size Format Action
surgical-simulation-robot.pdf 3.00 MB PDF Open