Force feedback without sensor : a preliminary study on haptic modeling
Phee, Soo Jay
Date of Issue2012
IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (4th : 2012 : Rome, Italy)
School of Mechanical and Aerospace Engineering
Haptic feedback is an active trend in robotic surgery. However, it is not always feasible to place physical force sensors on the robotic tool-tips due to size or other constraints. Haptic modeling of the organ/tissue could be an alternative approach to provide estimated force information from available data. In this paper, we investigate haptic modeling to provide real-time force estimation in endoscopic surgery. Viscoelastic behavior of the gastrointestinal organ/tissue needs to be taken into consideration. Hence, we proposed a modified haptic model based on commonly-used lumped models, in order to restore the tool-tissue interaction force by using the robot motion. Performance of this approach was evaluated by ex-vivo experiments. The proposed model is capable of approximating the interaction force. Discussions were made on possible limitations and problems in the implementation of such approach.
Proceedings of the IEEE RAS and EMBS international conference on biomedical robotics and biomechatronics
© 2012 IEEE.