Surgical Simulation Robot with Haptics and Friction Compensation

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• 关键词：Laparoscopic surigcal simulator ; Haptics ; Friction compensation
• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9515
• 期：1
• 页码：69-80
• 全文大小：9,508 KB
• 参考文献：1.Ottermo, M.V., Ovstedal, M., Lango, T., Stavdahl, O., Yavuz, Y., Johansen, T.A., Marvik, R.: The role of tactile feedback in laparoscopic surgery. Surg. Laparosc. Endosc. Percutan. Tech. 16, 390–400 (2006)CrossRef
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• 作者单位：Tao Yang (17)
  Weimin Huang (17)
  Kyaw Kyar Toe (17)
  Jiayin Zhou (17)
  Yuping Duan (17)
  Yanling Chi (17)
  Loong Ee Loh (18)
  
  17. Institute for Infocomm Research, Singapore, 138632, Singapore
  18. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, 639798, Singapore
  
• 丛书名：Computer-Assisted and Robotic Endoscopy
• ISBN：978-3-319-29965-5
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349

文摘

Haptic feedback brings a surgical simulator closer to real surgery. However, friction in surgical simulator’s hardware affects its performance significantly. We introduce a surgical simulation robot with roller mechanism for laparoscopic surgical simulation. Roller mechanism is implemented in a constrained space to reduce the friction. Motion based friction cancellation method is also applied to further mitigate the friction effects. Comparing with the same surgical simulation robot without roller mechanism, the one with roller mechanism reduces friction by 32.86 % and 38.87 % on two motion directions, and the motion based friction cancellation method can mitigate the friction effect by 49.46 % and 62.08 % on the two motion directions.