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Experimental tissue parameter identification for use in endoscopic urological haptic simulators
Natl Tech Univ Athens, Dept Mech Engn, Athens 15780, Greece.
Natl Tech Univ Athens, Dept Mech Engn, Athens 15780, Greece.
MIT, USA.
2009 (Engelska)Ingår i: Control and Automation, 2009. MED ’09. 17th Mediterranean Conference on, Piscataway, N.J.: IEEE Press, 2009, s. 1131-1136Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

A method is developed for obtaining parameters for tube-like soft-tissues, to be used in urological haptic simulators. A device was designed and built that allows the acquisition of forces and displacements during endoscope insertion in a tubelike soft tissue. The device consists of a mechatronic ball screw mechanism, with a 6 DOF force/ torque sensor attached to it. The steel shaft representing the endoscope, is commanded to follow desired trajectories with micrometric accuracy under the application of an IPD controller, implemented on a dSpace 1103 system. The experimental data acquired is fitted to polynomials to yield a tissue model that can be used to predict insertion forces required for haptic simulator feedback.

Ort, förlag, år, upplaga, sidor
Piscataway, N.J.: IEEE Press, 2009. s. 1131-1136
Nyckelord [en]
Biological tissues, Endoscopes, Fasteners, Force sensors, Haptic interfaces, Mechatronics, Parameter estimation, Predictive models, Steel, Torque, biological tissues, endoscopes, medical control systems, parameter estimation, IPD controller, dSpace 1103 system, endoscope insertion, endoscopic urological haptic simulators, experimental tissue parameter identification, mechatronic ball screw mechanism, micrometric accuracy, tube-like soft tissues, Soft tissue modeling, endoscopic surgery simulation, haptic feedback, tissue identification
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:hh:diva-20824DOI: 10.1109/MED.2009.5164698ISI: 000280699600194ISBN: 978-1-4244-4684-1 OAI: oai:DiVA.org:hh-20824DiVA, id: diva2:586709
Konferens
17th Mediterranean Conference on Control & Automation, Makedonia Palace, Thessaloniki, Greece, June 24-26, 2009
Tillgänglig från: 2013-01-12 Skapad: 2013-01-12 Senast uppdaterad: 2018-03-22Bibliografiskt granskad

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Iagnemma, Karl

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