Haptic tracking control for minimally invasive robotic surgery.
- Author:
Zhaohong XU
1
;
Chengli SONG
;
Wenwu WU
Author Information
1. School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China. xuzhdoc@yahoo.com.cn
- Publication Type:Journal Article
- MeSH:
Feedback;
Humans;
Minimally Invasive Surgical Procedures;
instrumentation;
Robotics;
instrumentation;
Surgery, Computer-Assisted;
instrumentation;
Touch Perception
- From:
Journal of Biomedical Engineering
2012;29(3):407-410
- CountryChina
- Language:Chinese
-
Abstract:
Haptic feedback plays a significant role in minimally invasive robotic surgery (MIRS). A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler method. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on robot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control efficiency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instrument force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.
