TY - GEN
T1 - Force feedback algorithms for master slave surgical systems
AU - Pérez, Vera Z.
AU - Betancur, Manuel J.
AU - Martínez, Jose R.
AU - Torres, Olga P.
AU - Bustamante, John
PY - 2011
Y1 - 2011
N2 - A teleoperated system with haptic feedback helps to improve the skills of an operator who is located in a remote area. These systems have many applications, one of them is minimally invasive robotic surgery, in which small incisions are used for surgical access with the aid of robotic systems controlled by a surgeon. In medical science, robotic surgery is the subject of many studies because of the advantages offered, such as better cosmetic results, reduced recovery time, and more precise surgical movements. This article presents a conceptual model of a robotic system for cardiac surgery, that uses a master-slave configuration, to implement bilateral algorithms for manipulating a robotic arm integrated with a commercial 3D joystick with force feedback, the Novint Falcon,. There are several important aspects in the implementation: (a) to guarantee a fixed point of contact between the skin of the patient and the surgical instruments, as established by the surgeon. (b) to provide realistic force feedback in three degrees of freedom, which is the main objective of this work, and (c) to accurately track the position demanded by the surgeon to the robotic arm. Some test are presented for the conceptual validation of the above points using a didactic commercial robot.
AB - A teleoperated system with haptic feedback helps to improve the skills of an operator who is located in a remote area. These systems have many applications, one of them is minimally invasive robotic surgery, in which small incisions are used for surgical access with the aid of robotic systems controlled by a surgeon. In medical science, robotic surgery is the subject of many studies because of the advantages offered, such as better cosmetic results, reduced recovery time, and more precise surgical movements. This article presents a conceptual model of a robotic system for cardiac surgery, that uses a master-slave configuration, to implement bilateral algorithms for manipulating a robotic arm integrated with a commercial 3D joystick with force feedback, the Novint Falcon,. There are several important aspects in the implementation: (a) to guarantee a fixed point of contact between the skin of the patient and the surgical instruments, as established by the surgeon. (b) to provide realistic force feedback in three degrees of freedom, which is the main objective of this work, and (c) to accurately track the position demanded by the surgeon to the robotic arm. Some test are presented for the conceptual validation of the above points using a didactic commercial robot.
KW - Haptic
KW - haptic feedback
KW - minimally invasive robotic surgery (MIRS)
UR - http://www.scopus.com/inward/record.url?scp=83455164007&partnerID=8YFLogxK
U2 - 10.1109/LARC.2011.6086811
DO - 10.1109/LARC.2011.6086811
M3 - Ponencia publicada en las memorias del evento con ISBN
AN - SCOPUS:83455164007
SN - 9781457716904
T3 - 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings
BT - 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings
T2 - 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011
Y2 - 1 October 2011 through 4 October 2011
ER -