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Haptic Effects of Surgical Teleoperator Flexibility
| Content Provider | CiteSeerX |
|---|---|
| Author | Tavakoli, M. Howe, Robert D. |
| Abstract | Minimally invasive surgery systems typically involve thin and cabledriven surgical instruments. This introduces link and joint flexibility in the slave robot of a master–slave teleoperation system, reducing the effective stiffness of the slave and the transparency of teleoperation. In this paper, we analyze transparency under slave link and joint flexibility (tool flexibility). We also evaluate the added benefits of using extra sensors at the tip of the flexible robot. It is shown that tip velocity (or position) feedback improves free-space position tracking performance in the presence of robot flexibility. Also, when the interaction forces with an environment are measured by a force sensor and fed back to the user’s hand, tip velocity feedback improves hard-contact force tracking performance. During a hard contact task, tip velocity feedback can also eliminate the transmission of robot flexibility to the user’s hand. KEY WORDS—haptic surgery teleoperation, link flexibility, joint flexibility, transparency, stability 1. |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Surgical Teleoperator Flexibility Hard-contact Force Slave Robot Slave Link Force Sensor User Hand Effective Stiffness Tool Flexibility Interaction Force Cabledriven Surgical Instrument Haptic Effect Invasive Surgery System Tip Velocity Feedback Joint Flexibility Hard Contact Task Key Word Haptic Surgery Teleoperation Tip Velocity Robot Flexibility Master Slave Teleoperation System Flexible Robot Added Benefit Free-space Position Extra Sensor |
| Content Type | Text |
