The preliminary results of a force feedback control for Sensorized Medical Robotics
نویسندگان
چکیده
A laparoscopic surgery system by using a robot holds many problems. Among these, its inability in delivering touching sensation to a surgeon is raised as the biggest problem. The current paper attempted to find a force feedback controlling method at the time of performing movement by using one-degree of freedom (DOF) arm of slave and master system that is used in the programming based system. The study was two methods experience force feedback control; In the first place used force sensors and otherwise, conducted for the force feedback control by using a force sensor and for the case when the sensor could not be used due to the spatial and systematic limitation. The realization of force feedback system was successful, and the experiment results of force feedback control and current based force feedback control mode based on the force sensors of oneDOF system indicates that it could be directly applied to the another multi-DOF surgical robot system that is currently under the development. Keywords—Laparoscopic surgery; force feedback control; degree of freedom (DOF).
منابع مشابه
Haptic interaction in robot-assisted endoscopic surgery: a sensorized end-effector.
Conventional endoscopic surgery has some drawbacks that can be addressed by using robots. The robotic systems used for surgery are still in their infancy. A major deficiency is the lack of haptic feedback to the surgeon. In this paper, the benefits of haptic feedback in robot-assisted surgery are discussed. A novel robotic end-effector is then described that meets the requirements of endoscopic...
متن کاملNon-Singular Terminal Sliding Mode Control of a Nonholonomic Wheeled Mobile Robots Using Fuzzy Based Tyre Force Estimator
This paper, proposes a methodology to implement a suitable nonsingular terminal sliding mode controller associated with the output feedback control to achieve a successful trajectory tracking of a non-holonomic wheeled mobile robot in presence of longitudinal and lateral slip accompanied. This implementation offers a relatively faster and high precision tracking performance. We investigate this...
متن کاملDesign and Construction of a New Capacitive Tactile Sensor for Measuring Normal Tactile Force
This paper presents the design, construction and testing of a new capacitive tactile sensor for measurement of normal tactile force. The operation of proposed sensor has been investigated in ASTABLE and MONOSTABLE circuits. According to the results of these circuits the deviation of ASTABLE circuit results is less than MONOSTABLE circuit results. In addition, the results obtained from ASTABLE c...
متن کاملReconstructing human push recovery reactions using a three dimensional under-actuated bipedal robot
This paper presents the ability of hybrid zero dynamics (HZD) feedback control method to reproduce human like movements for walking push recovery of an under-actuated 3D biped model. The balance recovery controller is implemented on a three-dimensional under-actuated bipedal model subjected to a push disturbance. The biped robot model is considered as a hybrid system with eight degrees of freed...
متن کاملGrasping and Manipulation in Humanoid Robotics
Humanoid robotics is attracting the interest of many research groups world-wide. In particular, developing humanoids requires the implementation of manipulation capabilities, which is still a most complex problem in robotics. This paper presents an overview of current activities in the development of humanoid robots, with special focus on manipulation. Then we discuss our current approach to th...
متن کامل